From bacfacf116ef52b702dc5ead5e6f53087981e0ed Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Mon, 20 May 2024 18:43:10 -0400
Subject: [PATCH 01/24] chnage port depending on argument

---
 .../game_controller.py                        | 35 ++++++++++++++-----
 .../thunderscope/thunderscope_main.py         |  6 +++-
 2 files changed, 31 insertions(+), 10 deletions(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index a8c01f87cb..a8a5e33c6a 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -27,7 +27,7 @@ class Gamecontroller(object):
     REFEREE_IP = "224.5.23.1"
     CI_MODE_OUTPUT_RECEIVE_BUFFER_SIZE = 9000
 
-    def __init__(self, supress_logs: bool = False) -> None:
+    def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None:
         """Run Gamecontroller
 
         :param supress_logs: Whether to suppress the logs
@@ -37,8 +37,15 @@ def __init__(self, supress_logs: bool = False) -> None:
         # We need to find 2 free ports to use for the gamecontroller
         # so that we can run multiple gamecontroller instances in parallel
         self.referee_port = self.next_free_port()
-        self.ci_port = self.next_free_port()
+        
+        self.ci_port = gamecontroller_port
+        if gamecontroller_port is None: 
+            self.ci_port = self.next_free_port()
 
+        if not self.is_valid_port(self.ci_port):
+            raise Exception("Port: {} is not available!".format(self.ci_port))
+
+        print("I am using: {} port".format(self.ci_port))
         # this allows gamecontroller to listen to override commands
         self.command_override_buffer = ThreadSafeBuffer(
             buffer_size=2, protobuf_type=ManualGCCommand
@@ -55,6 +62,7 @@ def __enter__(self) -> "self":
         command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
         command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
+        print(f"command: {command}")
         if self.supress_logs:
             with open(os.devnull, "w") as fp:
                 self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
@@ -102,6 +110,20 @@ def refresh(self):
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
+    def is_valid_port(self, port):
+        """
+        :param port: the port we are checking
+        :return: True if the port is available, False otherwise
+        """
+        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
+        try:
+            sock.bind(("", port))
+            sock.close()
+            return True
+        except OSError:
+            return False
+
     def next_free_port(self, port: int = 40000, max_port: int = 65535) -> None:
         """Find the next free port. We need to find 2 free ports to use for the gamecontroller
         so that we can run multiple gamecontroller instances in parallel.
@@ -111,15 +133,10 @@ def next_free_port(self, port: int = 40000, max_port: int = 65535) -> None:
         :return: The next free port
 
         """
-        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-
         while port <= max_port:
-            try:
-                sock.bind(("", port))
-                sock.close()
+            if self.is_valid_port(port):
                 return port
-            except OSError:
-                port += 1
+            port += 1
 
         raise IOError("no free ports")
 
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index fd53817470..df592004d7 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -217,6 +217,8 @@
         default=False,
         help="Whether to populate with default robot positions (False) or start with an empty field (True) for AI vs AI",
     )
+    
+    parser.add_argument('--gamecontroller_port', type=int, default=None, help='The port number for the game controller.')
 
     args = parser.parse_args()
 
@@ -225,6 +227,7 @@
         if args.interface is None:
             parser.error("Must specify interface")
 
+
     ###########################################################################
     #                      Visualize CPP Tests                                #
     ###########################################################################
@@ -428,7 +431,8 @@ def __ticker(tick_rate_ms: int) -> None:
             should_restart_on_crash=False,
             run_sudo=args.sudo,
         ) as yellow_fs, Gamecontroller(
-            supress_logs=(not args.verbose)
+            supress_logs=(not args.verbose),
+            gamecontroller_port=args.gamecontroller_port
         ) as gamecontroller, (
             # Here we only initialize autoref if the --enable_autoref flag is requested.
             # To avoid nested Python withs, the autoref is initialized as None when this flag doesn't exist.

From d620120b8b64e8a62a7cecaa1cd880e8fa32afdb Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Mon, 20 May 2024 18:44:59 -0400
Subject: [PATCH 02/24] added docs

---
 .../thunderscope/binary_context_managers/game_controller.py    | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index a8a5e33c6a..515745669c 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -45,7 +45,6 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None
         if not self.is_valid_port(self.ci_port):
             raise Exception("Port: {} is not available!".format(self.ci_port))
 
-        print("I am using: {} port".format(self.ci_port))
         # this allows gamecontroller to listen to override commands
         self.command_override_buffer = ThreadSafeBuffer(
             buffer_size=2, protobuf_type=ManualGCCommand
@@ -112,6 +111,8 @@ def refresh(self):
 
     def is_valid_port(self, port):
         """
+        Check if a port is available 
+
         :param port: the port we are checking
         :return: True if the port is available, False otherwise
         """

From 1557448fa64ebe09366b8604bb4fdebfb066c0e7 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Mon, 20 May 2024 19:06:46 -0400
Subject: [PATCH 03/24] remove stuff

---
 .../thunderscope/binary_context_managers/game_controller.py      | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 515745669c..13140abf11 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -61,7 +61,6 @@ def __enter__(self) -> "self":
         command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
         command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
-        print(f"command: {command}")
         if self.supress_logs:
             with open(os.devnull, "w") as fp:
                 self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)

From 5478f153b04687be2cf5bf6fc04fa832ade994f0 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Mon, 20 May 2024 19:53:24 -0400
Subject: [PATCH 04/24] updated entry points

---
 src/software/field_tests/field_test_fixture.py              | 6 +++++-
 src/software/simulated_tests/simulated_test_fixture.py      | 5 ++++-
 .../thunderscope/binary_context_managers/game_controller.py | 2 +-
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 7ae36de467..4334fd0b54 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -313,6 +313,8 @@ def load_command_line_arguments():
         help="Estop Baudrate",
     )
 
+    parser.add_argument('--gamecontroller_port', type=int, default=None, help='The port number for the game controller.')
+
     parser.add_argument(
         "--run_yellow",
         action="store_true",
@@ -348,6 +350,7 @@ def field_test_runner():
     blue_full_system_proto_unix_io = ProtoUnixIO()
     args = load_command_line_arguments()
 
+
     # Grab the current test name to store the proto log for the test case
     current_test = os.environ.get("PYTEST_CURRENT_TEST").split(":")[-1].split(" ")[0]
     current_test = current_test.replace("]", "")
@@ -382,7 +385,8 @@ def field_test_runner():
         enable_radio=args.enable_radio,
     ) as rc_friendly:
         with Gamecontroller(
-            supress_logs=(not args.show_gamecontroller_logs)
+            supress_logs=(not args.show_gamecontroller_logs),
+            gamecontroller_port=args.gamecontroller_port
         ) as gamecontroller:
             friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
             rc_friendly.setup_for_fullsystem()
diff --git a/src/software/simulated_tests/simulated_test_fixture.py b/src/software/simulated_tests/simulated_test_fixture.py
index 104f1a407a..63e73b24fa 100644
--- a/src/software/simulated_tests/simulated_test_fixture.py
+++ b/src/software/simulated_tests/simulated_test_fixture.py
@@ -493,6 +493,8 @@ def load_command_line_arguments():
         default=False,
         help="Use realism in the simulator",
     )
+
+    parser.add_argument('--gamecontroller_port', type=int, default=None, help='The port number for the game controller.')
     return parser.parse_args()
 
 
@@ -542,7 +544,8 @@ def simulated_test_runner():
         should_restart_on_crash=False,
     ) as yellow_fs:
         with Gamecontroller(
-            supress_logs=(not args.show_gamecontroller_logs)
+            supress_logs=(not args.show_gamecontroller_logs),
+            gamecontroller_port=args.gamecontroller_port
         ) as gamecontroller:
 
             blue_fs.setup_proto_unix_io(blue_full_system_proto_unix_io)
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 13140abf11..788cbd5e4a 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -39,7 +39,7 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None
         self.referee_port = self.next_free_port()
         
         self.ci_port = gamecontroller_port
-        if gamecontroller_port is None: 
+        if self.ci_port is None: 
             self.ci_port = self.next_free_port()
 
         if not self.is_valid_port(self.ci_port):

From 8d394cd6357772c6e66a316c14dc9c6d02a447c1 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Mon, 20 May 2024 22:08:13 -0400
Subject: [PATCH 05/24] fixed stuff

---
 .../binary_context_managers/game_controller.py  | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 788cbd5e4a..b58098244e 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -40,10 +40,9 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None
         
         self.ci_port = gamecontroller_port
         if self.ci_port is None: 
-            self.ci_port = self.next_free_port()
-
-        if not self.is_valid_port(self.ci_port):
-            raise Exception("Port: {} is not available!".format(self.ci_port))
+            self.ci_port = self.next_free_port(40000)
+        else:
+            self.ci_port = self.next_free_port(self.ci_port)
 
         # this allows gamecontroller to listen to override commands
         self.command_override_buffer = ThreadSafeBuffer(
@@ -124,7 +123,7 @@ def is_valid_port(self, port):
         except OSError:
             return False
 
-    def next_free_port(self, port: int = 40000, max_port: int = 65535) -> None:
+    def next_free_port(self, start_port: int = 40000, max_port: int = 65535) -> None:
         """Find the next free port. We need to find 2 free ports to use for the gamecontroller
         so that we can run multiple gamecontroller instances in parallel.
 
@@ -133,10 +132,10 @@ def next_free_port(self, port: int = 40000, max_port: int = 65535) -> None:
         :return: The next free port
 
         """
-        while port <= max_port:
-            if self.is_valid_port(port):
-                return port
-            port += 1
+        while start_port <= max_port:
+            if self.is_valid_port(start_port):
+                return start_port
+            start_port += 1
 
         raise IOError("no free ports")
 

From 0b5d2a65b00a359b21abcc3674296f2f6ed25609 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Tue, 21 May 2024 19:08:28 +0000
Subject: [PATCH 06/24] [pre-commit.ci lite] apply automatic fixes

---
 src/software/field_tests/field_test_fixture.py       | 10 +++++++---
 .../simulated_tests/simulated_test_fixture.py        |  9 +++++++--
 .../binary_context_managers/game_controller.py       |  4 ++--
 src/software/thunderscope/thunderscope_main.py       | 12 ++++++++----
 4 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 4334fd0b54..d43a809254 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -313,7 +313,12 @@ def load_command_line_arguments():
         help="Estop Baudrate",
     )
 
-    parser.add_argument('--gamecontroller_port', type=int, default=None, help='The port number for the game controller.')
+    parser.add_argument(
+        "--gamecontroller_port",
+        type=int,
+        default=None,
+        help="The port number for the game controller.",
+    )
 
     parser.add_argument(
         "--run_yellow",
@@ -350,7 +355,6 @@ def field_test_runner():
     blue_full_system_proto_unix_io = ProtoUnixIO()
     args = load_command_line_arguments()
 
-
     # Grab the current test name to store the proto log for the test case
     current_test = os.environ.get("PYTEST_CURRENT_TEST").split(":")[-1].split(" ")[0]
     current_test = current_test.replace("]", "")
@@ -386,7 +390,7 @@ def field_test_runner():
     ) as rc_friendly:
         with Gamecontroller(
             supress_logs=(not args.show_gamecontroller_logs),
-            gamecontroller_port=args.gamecontroller_port
+            gamecontroller_port=args.gamecontroller_port,
         ) as gamecontroller:
             friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
             rc_friendly.setup_for_fullsystem()
diff --git a/src/software/simulated_tests/simulated_test_fixture.py b/src/software/simulated_tests/simulated_test_fixture.py
index 63e73b24fa..65b60e6425 100644
--- a/src/software/simulated_tests/simulated_test_fixture.py
+++ b/src/software/simulated_tests/simulated_test_fixture.py
@@ -494,7 +494,12 @@ def load_command_line_arguments():
         help="Use realism in the simulator",
     )
 
-    parser.add_argument('--gamecontroller_port', type=int, default=None, help='The port number for the game controller.')
+    parser.add_argument(
+        "--gamecontroller_port",
+        type=int,
+        default=None,
+        help="The port number for the game controller.",
+    )
     return parser.parse_args()
 
 
@@ -545,7 +550,7 @@ def simulated_test_runner():
     ) as yellow_fs:
         with Gamecontroller(
             supress_logs=(not args.show_gamecontroller_logs),
-            gamecontroller_port=args.gamecontroller_port
+            gamecontroller_port=args.gamecontroller_port,
         ) as gamecontroller:
 
             blue_fs.setup_proto_unix_io(blue_full_system_proto_unix_io)
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index b58098244e..bacebe3af0 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -37,9 +37,9 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None
         # We need to find 2 free ports to use for the gamecontroller
         # so that we can run multiple gamecontroller instances in parallel
         self.referee_port = self.next_free_port()
-        
+
         self.ci_port = gamecontroller_port
-        if self.ci_port is None: 
+        if self.ci_port is None:
             self.ci_port = self.next_free_port(40000)
         else:
             self.ci_port = self.next_free_port(self.ci_port)
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index df592004d7..7bd29dbf70 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -217,8 +217,13 @@
         default=False,
         help="Whether to populate with default robot positions (False) or start with an empty field (True) for AI vs AI",
     )
-    
-    parser.add_argument('--gamecontroller_port', type=int, default=None, help='The port number for the game controller.')
+
+    parser.add_argument(
+        "--gamecontroller_port",
+        type=int,
+        default=None,
+        help="The port number for the game controller.",
+    )
 
     args = parser.parse_args()
 
@@ -227,7 +232,6 @@
         if args.interface is None:
             parser.error("Must specify interface")
 
-
     ###########################################################################
     #                      Visualize CPP Tests                                #
     ###########################################################################
@@ -432,7 +436,7 @@ def __ticker(tick_rate_ms: int) -> None:
             run_sudo=args.sudo,
         ) as yellow_fs, Gamecontroller(
             supress_logs=(not args.verbose),
-            gamecontroller_port=args.gamecontroller_port
+            gamecontroller_port=args.gamecontroller_port,
         ) as gamecontroller, (
             # Here we only initialize autoref if the --enable_autoref flag is requested.
             # To avoid nested Python withs, the autoref is initialized as None when this flag doesn't exist.

From 5d5e130c93c9d0d8c116ba696b6cd64ba52c4c23 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Wed, 22 May 2024 18:27:53 -0400
Subject: [PATCH 07/24] copied code from nima

---
 src/software/networking/ssl_proto_communication.py | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/software/networking/ssl_proto_communication.py b/src/software/networking/ssl_proto_communication.py
index 54a571977c..aaccbf4c01 100644
--- a/src/software/networking/ssl_proto_communication.py
+++ b/src/software/networking/ssl_proto_communication.py
@@ -34,9 +34,15 @@ def __init__(self, port: int) -> None:
 
         :param port the port to bind to
         """
-        # bind to all local interfaces, TCP
-        self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.socket.connect(("", port))
+        try:
+            # bind to all local interfaces, TCP
+            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.socket.connect(("", port))
+        except ConnectionRefusedError:
+            raise ConnectionRefusedError(
+                f"SSL Socket connection refused on port {port}. Is binary already running in a separate process?"
+            )
+
 
     def send(self, proto: protobuf_message.Message) -> None:
         """

From 53b31200583510e4a2e227e0a79ad73452419df5 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Wed, 22 May 2024 18:29:19 -0400
Subject: [PATCH 08/24] added some new port to fix

---
 .../thunderscope/binary_context_managers/game_controller.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index bacebe3af0..2f15e973c0 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -107,7 +107,7 @@ def refresh(self):
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
-    def is_valid_port(self, port):
+    def is_valid_port(self, port:int) -> bool:
         """
         Check if a port is available 
 
@@ -123,11 +123,11 @@ def is_valid_port(self, port):
         except OSError:
             return False
 
-    def next_free_port(self, start_port: int = 40000, max_port: int = 65535) -> None:
+    def next_free_port(self, start_port: int = 40000, max_port: int = 65535) -> int:
         """Find the next free port. We need to find 2 free ports to use for the gamecontroller
         so that we can run multiple gamecontroller instances in parallel.
 
-        :param port: The port to start looking from
+        :param start_port: The port to start looking from
         :param max_port: The maximum port to look up to
         :return: The next free port
 

From c052a973ca08a55ed2b8857fc39b91673264eda6 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Thu, 23 May 2024 17:09:54 -0400
Subject: [PATCH 09/24] change bind address and stuff like that

---
 .../binary_context_managers/game_controller.py       | 12 ++++++++++--
 src/software/thunderscope/thunderscope_main.py       | 10 ++++++++++
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 2f15e973c0..deb52e816c 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -27,10 +27,12 @@ class Gamecontroller(object):
     REFEREE_IP = "224.5.23.1"
     CI_MODE_OUTPUT_RECEIVE_BUFFER_SIZE = 9000
 
-    def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None:
+    def __init__(self, supress_logs: bool = False, gamecontroller_port:int =None, referee_addresse:int= None) -> None:
         """Run Gamecontroller
 
         :param supress_logs: Whether to suppress the logs
+        :param gamecontroller_port: the port that the gamecontroller would bind to 
+        :param referee_address: the address the referee binds to
         """
         self.supress_logs = supress_logs
 
@@ -38,6 +40,11 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port=None) -> None
         # so that we can run multiple gamecontroller instances in parallel
         self.referee_port = self.next_free_port()
 
+        self.REFEREE_IP = referee_addresse
+        if referee_addresse is None: 
+            self.REFEREE_IP = "224.5.23.1"
+        print(self.REFEREE_IP)
+
         self.ci_port = gamecontroller_port
         if self.ci_port is None:
             self.ci_port = self.next_free_port(40000)
@@ -60,6 +67,7 @@ def __enter__(self) -> "self":
         command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
         command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
+        print(command)
         if self.supress_logs:
             with open(os.devnull, "w") as fp:
                 self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
@@ -166,7 +174,7 @@ def __send_referee_command(data: Referee) -> None:
                 autoref_proto_unix_io.send_proto(Referee, data)
 
         self.receive_referee_command = tbots_cpp.SSLRefereeProtoListener(
-            Gamecontroller.REFEREE_IP, self.referee_port, __send_referee_command, True,
+            self.REFEREE_IP, self.referee_port, __send_referee_command, True,
         )
 
         blue_full_system_proto_unix_io.register_observer(
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 7bd29dbf70..fcf097a44a 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -27,6 +27,7 @@
 from software.thunderscope.binary_context_managers.full_system import FullSystem
 from software.thunderscope.binary_context_managers.simulator import Simulator
 from software.thunderscope.binary_context_managers.game_controller import Gamecontroller
+
 from software.thunderscope.binary_context_managers.tigers_autoref import TigersAutoref
 
 
@@ -224,8 +225,16 @@
         default=None,
         help="The port number for the game controller.",
     )
+     
+    parser.add_argument("--sslvision_multicast_address", type=str, default=None, help="the multicast address for ssl vision")
+
+    parser.add_argument("--sslreferee_multicast_address", type=str, default=None, help="the multicast address for referee (game controller likely)")
+
 
     args = parser.parse_args()
+    
+    print(args.sslvision_multicast_address)
+    print(args.sslreferee_multicast_address)
 
     # Sanity check that an interface was provided
     if args.run_blue or args.run_yellow:
@@ -437,6 +446,7 @@ def __ticker(tick_rate_ms: int) -> None:
         ) as yellow_fs, Gamecontroller(
             supress_logs=(not args.verbose),
             gamecontroller_port=args.gamecontroller_port,
+            referee_addresse=args.sslreferee_multicast_address
         ) as gamecontroller, (
             # Here we only initialize autoref if the --enable_autoref flag is requested.
             # To avoid nested Python withs, the autoref is initialized as None when this flag doesn't exist.

From ace67d66df7bec1ac72a4e37476956ea7968f2ce Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Thu, 23 May 2024 17:18:34 -0400
Subject: [PATCH 10/24] added new stuff to robot communication

---
 .../binary_context_managers/game_controller.py     |  2 --
 src/software/thunderscope/robot_communication.py   | 14 ++++++++++++--
 src/software/thunderscope/thunderscope_main.py     |  3 ---
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index deb52e816c..3c9b6db45f 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -43,7 +43,6 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port:int =None, re
         self.REFEREE_IP = referee_addresse
         if referee_addresse is None: 
             self.REFEREE_IP = "224.5.23.1"
-        print(self.REFEREE_IP)
 
         self.ci_port = gamecontroller_port
         if self.ci_port is None:
@@ -67,7 +66,6 @@ def __enter__(self) -> "self":
         command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
         command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
-        print(command)
         if self.supress_logs:
             with open(os.devnull, "w") as fp:
                 self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 8f37b76664..531e656803 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -27,6 +27,8 @@ def __init__(
         estop_path: os.PathLike = None,
         estop_baudrate: int = 115200,
         enable_radio: bool = False,
+        referee_address: str = None, 
+        sslvision_address: str = None, 
     ):
         """Initialize the communication with the robots
 
@@ -100,19 +102,27 @@ def __init__(
             except Exception:
                 raise Exception(f"Invalid Estop found at location {self.estop_path}")
 
+        self.ssl_vision_address = sslvision_address
+        if self.ssl_vision_address is None:
+            self.ssl_vision_address = SSL_VISION_ADDRESS
+
+        self.referee_address = referee_address
+        if self.ssl_vision_address is None:
+            self.ssl_vision_address = SSL_REFEREE_ADDRESS
+
     def setup_for_fullsystem(self) -> None:
         """
         Sets up a listener for SSL vision and referee data, and connects all robots to fullsystem as default
         """
         self.receive_ssl_wrapper = tbots_cpp.SSLWrapperPacketProtoListener(
-            SSL_VISION_ADDRESS,
+            self.ssl_vision_address,
             SSL_VISION_PORT,
             lambda data: self.__forward_to_proto_unix_io(SSL_WrapperPacket, data),
             True,
         )
 
         self.receive_ssl_referee_proto = tbots_cpp.SSLRefereeProtoListener(
-            SSL_REFEREE_ADDRESS,
+            self.referee_address,
             SSL_REFEREE_PORT,
             lambda data: self.current_proto_unix_io.send_proto(Referee, data),
             True,
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index fcf097a44a..8096e9528e 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -232,9 +232,6 @@
 
 
     args = parser.parse_args()
-    
-    print(args.sslvision_multicast_address)
-    print(args.sslreferee_multicast_address)
 
     # Sanity check that an interface was provided
     if args.run_blue or args.run_yellow:

From 730753a08e49f865d39cfd0aa03ed21455d25776 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Thu, 23 May 2024 21:27:35 +0000
Subject: [PATCH 11/24] [pre-commit.ci lite] apply automatic fixes

---
 .../networking/ssl_proto_communication.py       |  1 -
 .../binary_context_managers/game_controller.py  | 11 ++++++++---
 .../thunderscope/robot_communication.py         |  4 ++--
 src/software/thunderscope/thunderscope_main.py  | 17 +++++++++++++----
 4 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/src/software/networking/ssl_proto_communication.py b/src/software/networking/ssl_proto_communication.py
index aaccbf4c01..a6c4ac686a 100644
--- a/src/software/networking/ssl_proto_communication.py
+++ b/src/software/networking/ssl_proto_communication.py
@@ -43,7 +43,6 @@ def __init__(self, port: int) -> None:
                 f"SSL Socket connection refused on port {port}. Is binary already running in a separate process?"
             )
 
-
     def send(self, proto: protobuf_message.Message) -> None:
         """
         Send the proto through the socket.
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 3c9b6db45f..4159ea007f 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -27,7 +27,12 @@ class Gamecontroller(object):
     REFEREE_IP = "224.5.23.1"
     CI_MODE_OUTPUT_RECEIVE_BUFFER_SIZE = 9000
 
-    def __init__(self, supress_logs: bool = False, gamecontroller_port:int =None, referee_addresse:int= None) -> None:
+    def __init__(
+        self,
+        supress_logs: bool = False,
+        gamecontroller_port: int = None,
+        referee_addresse: int = None,
+    ) -> None:
         """Run Gamecontroller
 
         :param supress_logs: Whether to suppress the logs
@@ -41,7 +46,7 @@ def __init__(self, supress_logs: bool = False, gamecontroller_port:int =None, re
         self.referee_port = self.next_free_port()
 
         self.REFEREE_IP = referee_addresse
-        if referee_addresse is None: 
+        if referee_addresse is None:
             self.REFEREE_IP = "224.5.23.1"
 
         self.ci_port = gamecontroller_port
@@ -113,7 +118,7 @@ def refresh(self):
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
-    def is_valid_port(self, port:int) -> bool:
+    def is_valid_port(self, port: int) -> bool:
         """
         Check if a port is available 
 
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 531e656803..2fe217f583 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -27,8 +27,8 @@ def __init__(
         estop_path: os.PathLike = None,
         estop_baudrate: int = 115200,
         enable_radio: bool = False,
-        referee_address: str = None, 
-        sslvision_address: str = None, 
+        referee_address: str = None,
+        sslvision_address: str = None,
     ):
         """Initialize the communication with the robots
 
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 8096e9528e..550cb0eb21 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -225,11 +225,20 @@
         default=None,
         help="The port number for the game controller.",
     )
-     
-    parser.add_argument("--sslvision_multicast_address", type=str, default=None, help="the multicast address for ssl vision")
 
-    parser.add_argument("--sslreferee_multicast_address", type=str, default=None, help="the multicast address for referee (game controller likely)")
+    parser.add_argument(
+        "--sslvision_multicast_address",
+        type=str,
+        default=None,
+        help="the multicast address for ssl vision",
+    )
 
+    parser.add_argument(
+        "--sslreferee_multicast_address",
+        type=str,
+        default=None,
+        help="the multicast address for referee (game controller likely)",
+    )
 
     args = parser.parse_args()
 
@@ -443,7 +452,7 @@ def __ticker(tick_rate_ms: int) -> None:
         ) as yellow_fs, Gamecontroller(
             supress_logs=(not args.verbose),
             gamecontroller_port=args.gamecontroller_port,
-            referee_addresse=args.sslreferee_multicast_address
+            referee_addresse=args.sslreferee_multicast_address,
         ) as gamecontroller, (
             # Here we only initialize autoref if the --enable_autoref flag is requested.
             # To avoid nested Python withs, the autoref is initialized as None when this flag doesn't exist.

From 9b8d59d8b4ff33b95dcb174047ef239a4e6d208d Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Thu, 23 May 2024 17:27:53 -0400
Subject: [PATCH 12/24] added new stuff for robot communication

---
 src/software/field_tests/field_test_fixture.py   |  6 ++++++
 src/software/thunderscope/robot_communication.py | 16 +++++++++-------
 src/software/thunderscope/thunderscope_main.py   |  2 ++
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index d43a809254..5a3828a45d 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -327,6 +327,10 @@ def load_command_line_arguments():
         help="Run the test with friendly robots in yellow mode",
     )
 
+    parser.add_argument("--sslvision_multicast_address", type=str, default=None, help="the multicast address for ssl vision")
+
+    parser.add_argument("--sslreferee_multicast_address", type=str, default=None, help="the multicast address for referee (game controller likely)")
+
     estop_group = parser.add_mutually_exclusive_group()
     estop_group.add_argument(
         "--keyboard_estop",
@@ -387,6 +391,8 @@ def field_test_runner():
         estop_mode=estop_mode,
         estop_path=estop_path,
         enable_radio=args.enable_radio,
+        referee_address=args.sslreferee_multicast_address,
+        sslvision_address=args.sslvision_multicast_address
     ) as rc_friendly:
         with Gamecontroller(
             supress_logs=(not args.show_gamecontroller_logs),
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 531e656803..c453fd9098 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -41,6 +41,15 @@ def __init__(
         :param enable_radio: Whether to use radio to send primitives to robots
 
         """
+        # setting up the ssl vision and referee addresses
+        self.ssl_vision_address = sslvision_address
+        if self.ssl_vision_address is None:
+            self.ssl_vision_address = SSL_VISION_ADDRESS
+
+        self.referee_address = referee_address
+        if self.referee_address is None:
+            self.referee_address = SSL_REFEREE_ADDRESS
+
         self.receive_ssl_referee_proto = None
         self.receive_ssl_wrapper = None
         self.sequence_number = 0
@@ -102,13 +111,6 @@ def __init__(
             except Exception:
                 raise Exception(f"Invalid Estop found at location {self.estop_path}")
 
-        self.ssl_vision_address = sslvision_address
-        if self.ssl_vision_address is None:
-            self.ssl_vision_address = SSL_VISION_ADDRESS
-
-        self.referee_address = referee_address
-        if self.ssl_vision_address is None:
-            self.ssl_vision_address = SSL_REFEREE_ADDRESS
 
     def setup_for_fullsystem(self) -> None:
         """
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 8096e9528e..6a48670b79 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -330,6 +330,8 @@
             estop_mode=estop_mode,
             estop_path=estop_path,
             enable_radio=args.enable_radio,
+            referee_address=args.sslreferee_multicast_address,
+            sslvision_address=args.sslvision_multicast_address
         ) as robot_communication:
 
             if estop_mode == EstopMode.KEYBOARD_ESTOP:

From ebcc8d679dd2359cbeb90a33819a6c77935fe835 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Thu, 23 May 2024 21:37:43 +0000
Subject: [PATCH 13/24] [pre-commit.ci lite] apply automatic fixes

---
 src/software/field_tests/field_test_fixture.py   | 16 +++++++++++++---
 src/software/thunderscope/robot_communication.py |  1 -
 src/software/thunderscope/thunderscope_main.py   |  2 +-
 3 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 5a3828a45d..4f382cf4ba 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -327,9 +327,19 @@ def load_command_line_arguments():
         help="Run the test with friendly robots in yellow mode",
     )
 
-    parser.add_argument("--sslvision_multicast_address", type=str, default=None, help="the multicast address for ssl vision")
+    parser.add_argument(
+        "--sslvision_multicast_address",
+        type=str,
+        default=None,
+        help="the multicast address for ssl vision",
+    )
 
-    parser.add_argument("--sslreferee_multicast_address", type=str, default=None, help="the multicast address for referee (game controller likely)")
+    parser.add_argument(
+        "--sslreferee_multicast_address",
+        type=str,
+        default=None,
+        help="the multicast address for referee (game controller likely)",
+    )
 
     estop_group = parser.add_mutually_exclusive_group()
     estop_group.add_argument(
@@ -392,7 +402,7 @@ def field_test_runner():
         estop_path=estop_path,
         enable_radio=args.enable_radio,
         referee_address=args.sslreferee_multicast_address,
-        sslvision_address=args.sslvision_multicast_address
+        sslvision_address=args.sslvision_multicast_address,
     ) as rc_friendly:
         with Gamecontroller(
             supress_logs=(not args.show_gamecontroller_logs),
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 6ff3594cd5..dd00bdf2bf 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -111,7 +111,6 @@ def __init__(
             except Exception:
                 raise Exception(f"Invalid Estop found at location {self.estop_path}")
 
-
     def setup_for_fullsystem(self) -> None:
         """
         Sets up a listener for SSL vision and referee data, and connects all robots to fullsystem as default
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 4366dc11d0..1911d1430a 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -340,7 +340,7 @@
             estop_path=estop_path,
             enable_radio=args.enable_radio,
             referee_address=args.sslreferee_multicast_address,
-            sslvision_address=args.sslvision_multicast_address
+            sslvision_address=args.sslvision_multicast_address,
         ) as robot_communication:
 
             if estop_mode == EstopMode.KEYBOARD_ESTOP:

From 6ad2b477b6356119ea398655859df6e09c8954fe Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Fri, 31 May 2024 20:57:34 +0800
Subject: [PATCH 14/24] merged arune's changes

---
 src/software/field_tests/field_test_fixture.py | 4 ++--
 src/software/thunderscope/thunderscope_main.py | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 4f382cf4ba..b4c5b6e031 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -330,14 +330,14 @@ def load_command_line_arguments():
     parser.add_argument(
         "--sslvision_multicast_address",
         type=str,
-        default=None,
+        default=SSL_VISION_ADDRESS,
         help="the multicast address for ssl vision",
     )
 
     parser.add_argument(
         "--sslreferee_multicast_address",
         type=str,
-        default=None,
+        default=SSL_REFEREE_ADDRESS,
         help="the multicast address for referee (game controller likely)",
     )
 
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 1911d1430a..d08930cb64 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -229,14 +229,14 @@
     parser.add_argument(
         "--sslvision_multicast_address",
         type=str,
-        default=None,
+        default=SSL_VISION_ADDRESS,
         help="the multicast address for ssl vision",
     )
 
     parser.add_argument(
         "--sslreferee_multicast_address",
         type=str,
-        default=None,
+        default=SSL_REFEREE_ADDRESS,
         help="the multicast address for referee (game controller likely)",
     )
 

From e7308608adb90360b503a9d5ff1e916808039b52 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Tue, 11 Jun 2024 18:19:39 +0800
Subject: [PATCH 15/24] added new feature that arune requested

---
 .../field_tests/field_test_fixture.py         | 166 +++++++++---------
 .../simulated_tests/simulated_test_fixture.py |   7 -
 .../game_controller.py                        |  99 ++++++-----
 .../thunderscope/robot_communication.py       |   8 +-
 .../thunderscope/thunderscope_main.py         |  44 +++--
 5 files changed, 172 insertions(+), 152 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index b4c5b6e031..d959e0aa92 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -51,7 +51,7 @@ def __init__(
         :param test_name: The name of the test to run
         :param blue_full_system_proto_unix_io: The blue full system proto unix io to use
         :param yellow_full_system_proto_unix_io: The yellow full system proto unix io to use
-        :param gamecontroller: The gamecontroller context managed instance 
+        :param gamecontroller: The gamecontroller context managed instance
         :param publish_validation_protos: whether to publish validation protos
         :param: is_yellow_friendly: if yellow is the friendly team
         """
@@ -313,13 +313,6 @@ def load_command_line_arguments():
         help="Estop Baudrate",
     )
 
-    parser.add_argument(
-        "--gamecontroller_port",
-        type=int,
-        default=None,
-        help="The port number for the game controller.",
-    )
-
     parser.add_argument(
         "--run_yellow",
         action="store_true",
@@ -335,10 +328,17 @@ def load_command_line_arguments():
     )
 
     parser.add_argument(
-        "--sslreferee_multicast_address",
-        type=str,
-        default=SSL_REFEREE_ADDRESS,
-        help="the multicast address for referee (game controller likely)",
+        "--use_unconventional_port",
+        action="store_true",
+        default=False,
+        help="setting this option would cause gamecontroller to bind on an unconventional port, likely 12393",
+    )
+
+    parser.add_argument(
+        "--not_launch_gc",
+        action="store_true",
+        default=False,
+        help="whether we are launching gamecontroller or not",
     )
 
     estop_group = parser.add_mutually_exclusive_group()
@@ -394,87 +394,89 @@ def field_test_runner():
         debug_full_system=debug_full_sys,
         friendly_colour_yellow=args.run_yellow,
         should_restart_on_crash=False,
-    ) as friendly_fs, RobotCommunication(
+    ) as friendly_fs, Gamecontroller(
+        use_unconventional_port=args.use_unconventional_port,
+        not_launch_gc=args.not_launch_gc,
+        supress_logs=(not args.show_gamecontroller_logs),
+    ) as gamecontroller, RobotCommunication(
         current_proto_unix_io=friendly_proto_unix_io,
         multicast_channel=getRobotMulticastChannel(args.channel),
         interface=args.interface,
         estop_mode=estop_mode,
         estop_path=estop_path,
         enable_radio=args.enable_radio,
-        referee_address=args.sslreferee_multicast_address,
         sslvision_address=args.sslvision_multicast_address,
+        referee_port=gamecontroller.get_referee_port(),
     ) as rc_friendly:
-        with Gamecontroller(
-            supress_logs=(not args.show_gamecontroller_logs),
-            gamecontroller_port=args.gamecontroller_port,
-        ) as gamecontroller:
-            friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
-            rc_friendly.setup_for_fullsystem()
-
-            gamecontroller.setup_proto_unix_io(
-                blue_full_system_proto_unix_io, yellow_full_system_proto_unix_io,
-            )
-            # Inject the proto unix ios into thunderscope and start the test
-            tscope = Thunderscope(
-                configure_field_test_view(
-                    simulator_proto_unix_io=simulator_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,
-                    yellow_is_friendly=args.run_yellow,
-                ),
-                layout_path=None,
-            )
 
-            # connect the keyboard estop toggle to the key event if needed
-            if estop_mode == EstopMode.KEYBOARD_ESTOP:
-                tscope.keyboard_estop_shortcut.activated.connect(
-                    rc_friendly.toggle_keyboard_estop
-                )
-                # we call this method to enable estop automatically when a field test starts
-                rc_friendly.toggle_keyboard_estop()
-                logger.warning(
-                    "\x1b[31;20m"
-                    + "Keyboard Estop Enabled, robots will start moving automatically when test starts!"
-                    + "\x1b[0m"
-                )
+        friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
+        rc_friendly.setup_for_fullsystem()
 
-            time.sleep(LAUNCH_DELAY_S)
-            runner = FieldTestRunner(
-                test_name=current_test,
+        gamecontroller.setup_proto_unix_io(
+            blue_full_system_proto_unix_io,
+            yellow_full_system_proto_unix_io,
+        )
+        # Inject the proto unix ios into thunderscope and start the test
+        tscope = Thunderscope(
+            configure_field_test_view(
+                simulator_proto_unix_io=simulator_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,
-                gamecontroller=gamecontroller,
-                thunderscope=tscope,
-                is_yellow_friendly=args.run_yellow,
+                yellow_is_friendly=args.run_yellow,
+            ),
+            layout_path=None,
+        )
+
+        # connect the keyboard estop toggle to the key event if needed
+        if estop_mode == EstopMode.KEYBOARD_ESTOP:
+            tscope.keyboard_estop_shortcut.activated.connect(
+                rc_friendly.toggle_keyboard_estop
+            )
+            # we call this method to enable estop automatically when a field test starts
+            rc_friendly.toggle_keyboard_estop()
+            logger.warning(
+                "\x1b[31;20m"
+                + "Keyboard Estop Enabled, robots will start moving automatically when test starts!"
+                + "\x1b[0m"
             )
 
-            friendly_proto_unix_io.register_observer(World, runner.world_buffer)
-
-            # Setup proto loggers.
-            #
-            # NOTE: Its important we use the test runners time provider because
-            # test will run as fast as possible with a varying tick rate. The
-            # SimulatorTestRunner time provider is tied to the simulators
-            # t_capture coming out of the wrapper packet (rather than time.time).
-            with ProtoLogger(
-                f"{args.blue_full_system_runtime_dir}/logs/{current_test}",
-                time_provider=runner.time_provider,
-            ) as blue_logger, ProtoLogger(
-                f"{args.yellow_full_system_runtime_dir}/logs/{current_test}",
-                time_provider=runner.time_provider,
-            ) as yellow_logger:
-                blue_full_system_proto_unix_io.register_to_observe_everything(
-                    blue_logger.buffer
-                )
-                yellow_full_system_proto_unix_io.register_to_observe_everything(
-                    yellow_logger.buffer
-                )
-                yield runner
-                print(
-                    f"\n\nTo replay this test for the blue team, go to the `src` folder and run \n./tbots.py run thunderscope --blue_log {blue_logger.log_folder}",
-                    flush=True,
-                )
-                print(
-                    f"\n\nTo replay this test for the yellow team, go to the `src` folder and run \n./tbots.py run thunderscope --yellow_log {yellow_logger.log_folder}",
-                    flush=True,
-                )
+        time.sleep(LAUNCH_DELAY_S)
+        runner = FieldTestRunner(
+            test_name=current_test,
+            blue_full_system_proto_unix_io=blue_full_system_proto_unix_io,
+            yellow_full_system_proto_unix_io=yellow_full_system_proto_unix_io,
+            gamecontroller=gamecontroller,
+            thunderscope=tscope,
+            is_yellow_friendly=args.run_yellow,
+        )
+
+        friendly_proto_unix_io.register_observer(World, runner.world_buffer)
+
+        # Setup proto loggers.
+        #
+        # NOTE: Its important we use the test runners time provider because
+        # test will run as fast as possible with a varying tick rate. The
+        # SimulatorTestRunner time provider is tied to the simulators
+        # t_capture coming out of the wrapper packet (rather than time.time).
+        with ProtoLogger(
+            f"{args.blue_full_system_runtime_dir}/logs/{current_test}",
+            time_provider=runner.time_provider,
+        ) as blue_logger, ProtoLogger(
+            f"{args.yellow_full_system_runtime_dir}/logs/{current_test}",
+            time_provider=runner.time_provider,
+        ) as yellow_logger:
+            blue_full_system_proto_unix_io.register_to_observe_everything(
+                blue_logger.buffer
+            )
+            yellow_full_system_proto_unix_io.register_to_observe_everything(
+                yellow_logger.buffer
+            )
+            yield runner
+            print(
+                f"\n\nTo replay this test for the blue team, go to the `src` folder and run \n./tbots.py run thunderscope --blue_log {blue_logger.log_folder}",
+                flush=True,
+            )
+            print(
+                f"\n\nTo replay this test for the yellow team, go to the `src` folder and run \n./tbots.py run thunderscope --yellow_log {yellow_logger.log_folder}",
+                flush=True,
+            )
diff --git a/src/software/simulated_tests/simulated_test_fixture.py b/src/software/simulated_tests/simulated_test_fixture.py
index 65b60e6425..9a31c168dc 100644
--- a/src/software/simulated_tests/simulated_test_fixture.py
+++ b/src/software/simulated_tests/simulated_test_fixture.py
@@ -494,12 +494,6 @@ def load_command_line_arguments():
         help="Use realism in the simulator",
     )
 
-    parser.add_argument(
-        "--gamecontroller_port",
-        type=int,
-        default=None,
-        help="The port number for the game controller.",
-    )
     return parser.parse_args()
 
 
@@ -550,7 +544,6 @@ def simulated_test_runner():
     ) as yellow_fs:
         with Gamecontroller(
             supress_logs=(not args.show_gamecontroller_logs),
-            gamecontroller_port=args.gamecontroller_port,
         ) as gamecontroller:
 
             blue_fs.setup_proto_unix_io(blue_full_system_proto_unix_io)
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 4159ea007f..ce95461507 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -21,7 +21,7 @@
 
 
 class Gamecontroller(object):
-    """ Gamecontroller Context Manager """
+    """Gamecontroller Context Manager"""
 
     CI_MODE_LAUNCH_DELAY_S = 0.3
     REFEREE_IP = "224.5.23.1"
@@ -30,58 +30,71 @@ class Gamecontroller(object):
     def __init__(
         self,
         supress_logs: bool = False,
-        gamecontroller_port: int = None,
-        referee_addresse: int = None,
+        use_unconventional_port: bool = False,
+        not_launch_gc:bool = True
     ) -> None:
-        """Run Gamecontroller
+        """
+        Run Gamecontroller
 
         :param supress_logs: Whether to suppress the logs
-        :param gamecontroller_port: the port that the gamecontroller would bind to 
-        :param referee_address: the address the referee binds to
+        :disregard_gamecontroller_port: if set to True, the gamecontroller port would be set to 12393, else it would highly likely be 40000, i.e. the default port that everybodies uses!
+        :not_launch_gc Whether to launch the gamecontroller or not!
         """
-        self.supress_logs = supress_logs
-
-        # We need to find 2 free ports to use for the gamecontroller
-        # so that we can run multiple gamecontroller instances in parallel
-        self.referee_port = self.next_free_port()
 
-        self.REFEREE_IP = referee_addresse
-        if referee_addresse is None:
-            self.REFEREE_IP = "224.5.23.1"
+        self.supress_logs = supress_logs
+        self.not_launch_gc = not_launch_gc
 
-        self.ci_port = gamecontroller_port
-        if self.ci_port is None:
-            self.ci_port = self.next_free_port(40000)
+        if use_unconventional_port:
+            # the intention of setting this port is to ensure that we don't listen other people's 
+            # gamecontroller. It is highly unlikely that other people would use port 12393 since 
+            # this is a random number that was set by us!
+            self.referee_port = self.next_free_port(start_port=12393)
         else:
-            self.ci_port = self.next_free_port(self.ci_port)
+            # highly likely being 40000, the default gamecontroller port!
+            self.referee_port = self.next_free_port()
+
+        self.ci_port = self.next_free_port()
 
         # this allows gamecontroller to listen to override commands
         self.command_override_buffer = ThreadSafeBuffer(
             buffer_size=2, protobuf_type=ManualGCCommand
         )
 
+    def get_referee_port(self) -> int:
+        """
+        Sometimes, the port that we are using changes depending on context.
+        We want a getter function that returns the port we are using.
+
+        :return: the port that the game controller is currently using!
+        """
+
+        return self.referee_port
+
     def __enter__(self) -> "self":
-        """Enter the gamecontroller context manager. 
+        """Enter the gamecontroller context manager.
 
         :return: gamecontroller context managed instance
 
         """
-        command = ["/opt/tbotspython/gamecontroller", "--timeAcquisitionMode", "ci"]
+        # sometimes we do not want to launch the gameconntroller because we are in robocup 
+        # the referee at robotcup would be the person launching the gamecontroller.
+        if not self.not_launch_gc:
+            command = ["/opt/tbotspython/gamecontroller", "--timeAcquisitionMode", "ci"]
 
-        command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
-        command += ["-ciAddress", f"localhost:{self.ci_port}"]
+            command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
+            command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
-        if self.supress_logs:
-            with open(os.devnull, "w") as fp:
-                self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
+            if self.supress_logs:
+                with open(os.devnull, "w") as fp:
+                    self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
 
-        else:
-            self.gamecontroller_proc = Popen(command)
+            else:
+                self.gamecontroller_proc = Popen(command)
 
-        # We can't connect to the ci port right away, it takes
-        # CI_MODE_LAUNCH_DELAY_S to start up the gamecontroller
-        time.sleep(Gamecontroller.CI_MODE_LAUNCH_DELAY_S)
-        self.ci_socket = SslSocket(self.ci_port)
+            # We can't connect to the ci port right away, it takes
+            # CI_MODE_LAUNCH_DELAY_S to start up the gamecontroller
+            time.sleep(Gamecontroller.CI_MODE_LAUNCH_DELAY_S)
+            self.ci_socket = SslSocket(self.ci_port)
 
         return self
 
@@ -108,19 +121,22 @@ def refresh(self):
             self.send_gc_command(
                 gc_command=manual_command.manual_command.type,
                 team=manual_command.manual_command.for_team,
-                final_ball_placement_point=tbots_cpp.Point(
-                    manual_command.final_ball_placement_point.x,
-                    manual_command.final_ball_placement_point.y,
-                )
-                # HasField checks if the field was manually set by us
-                # as opposed to if a value exists (since a default value always exists)
-                if manual_command.HasField("final_ball_placement_point") else None,
+                final_ball_placement_point=(
+                    tbots_cpp.Point(
+                        manual_command.final_ball_placement_point.x,
+                        manual_command.final_ball_placement_point.y,
+                    )
+                    # HasField checks if the field was manually set by us
+                    # as opposed to if a value exists (since a default value always exists)
+                    if manual_command.HasField("final_ball_placement_point")
+                    else None
+                ),
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
     def is_valid_port(self, port: int) -> bool:
         """
-        Check if a port is available 
+        Check if a port is available
 
         :param port: the port we are checking
         :return: True if the port is available, False otherwise
@@ -177,7 +193,10 @@ def __send_referee_command(data: Referee) -> None:
                 autoref_proto_unix_io.send_proto(Referee, data)
 
         self.receive_referee_command = tbots_cpp.SSLRefereeProtoListener(
-            self.REFEREE_IP, self.referee_port, __send_referee_command, True,
+            self.REFEREE_IP,
+            self.referee_port,
+            __send_referee_command,
+            True,
         )
 
         blue_full_system_proto_unix_io.register_observer(
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index dd00bdf2bf..c14a5db565 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -27,8 +27,8 @@ def __init__(
         estop_path: os.PathLike = None,
         estop_baudrate: int = 115200,
         enable_radio: bool = False,
-        referee_address: str = None,
         sslvision_address: str = None,
+        referee_port:int = SSL_REFEREE_PORT
     ):
         """Initialize the communication with the robots
 
@@ -46,9 +46,7 @@ def __init__(
         if self.ssl_vision_address is None:
             self.ssl_vision_address = SSL_VISION_ADDRESS
 
-        self.referee_address = referee_address
-        if self.referee_address is None:
-            self.referee_address = SSL_REFEREE_ADDRESS
+        self.referee_port = referee_port
 
         self.receive_ssl_referee_proto = None
         self.receive_ssl_wrapper = None
@@ -123,7 +121,7 @@ def setup_for_fullsystem(self) -> None:
         )
 
         self.receive_ssl_referee_proto = tbots_cpp.SSLRefereeProtoListener(
-            self.referee_address,
+            SSL_REFEREE_ADDRESS,
             SSL_REFEREE_PORT,
             lambda data: self.current_proto_unix_io.send_proto(Referee, data),
             True,
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index d08930cb64..c0db9eae22 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -219,13 +219,6 @@
         help="Whether to populate with default robot positions (False) or start with an empty field (True) for AI vs AI",
     )
 
-    parser.add_argument(
-        "--gamecontroller_port",
-        type=int,
-        default=None,
-        help="The port number for the game controller.",
-    )
-
     parser.add_argument(
         "--sslvision_multicast_address",
         type=str,
@@ -234,10 +227,17 @@
     )
 
     parser.add_argument(
-        "--sslreferee_multicast_address",
-        type=str,
-        default=SSL_REFEREE_ADDRESS,
-        help="the multicast address for referee (game controller likely)",
+        "--use_unconventional_port",
+        action="store_true",
+        default=False,
+        help="setting this option would cause gamecontroller to bind on an unconventional port, likely 12393",
+    )
+
+    parser.add_argument(
+        "--not_launch_gc",
+        action="store_true",
+        default=False,
+        help="whether we are launching gamecontroller or not"
     )
 
     args = parser.parse_args()
@@ -310,7 +310,10 @@
             args.run_diagnostics,
             args.visualization_buffer_size,
         )
-        tscope = Thunderscope(config=tscope_config, layout_path=args.layout,)
+        tscope = Thunderscope(
+            config=tscope_config,
+            layout_path=args.layout,
+        )
 
         current_proto_unix_io = None
 
@@ -339,7 +342,6 @@
             estop_mode=estop_mode,
             estop_path=estop_path,
             enable_radio=args.enable_radio,
-            referee_address=args.sslreferee_multicast_address,
             sslvision_address=args.sslvision_multicast_address,
         ) as robot_communication:
 
@@ -367,7 +369,9 @@
                     if args.run_blue
                     else args.yellow_full_system_runtime_dir
                 )
-                with ProtoLogger(full_system_runtime_dir,) as logger, FullSystem(
+                with ProtoLogger(
+                    full_system_runtime_dir,
+                ) as logger, FullSystem(
                     full_system_runtime_dir=runtime_dir,
                     debug_full_system=debug,
                     friendly_colour_yellow=friendly_colour_yellow,
@@ -390,7 +394,9 @@
     elif args.blue_log or args.yellow_log:
         tscope = Thunderscope(
             config=config.configure_replay_view(
-                args.blue_log, args.yellow_log, args.visualization_buffer_size,
+                args.blue_log,
+                args.yellow_log,
+                args.visualization_buffer_size,
             ),
             layout_path=args.layout,
         )
@@ -453,8 +459,8 @@ def __ticker(tick_rate_ms: int) -> None:
             run_sudo=args.sudo,
         ) as yellow_fs, Gamecontroller(
             supress_logs=(not args.verbose),
-            gamecontroller_port=args.gamecontroller_port,
-            referee_addresse=args.sslreferee_multicast_address,
+            use_unconventional_port=args.use_unconventional_port,
+            not_launch_gc=args.not_launch_gc,
         ) as gamecontroller, (
             # Here we only initialize autoref if the --enable_autoref flag is requested.
             # To avoid nested Python withs, the autoref is initialized as None when this flag doesn't exist.
@@ -503,7 +509,9 @@ def __ticker(tick_rate_ms: int) -> None:
                 autoref_proto_unix_io,
             )
             if args.enable_autoref:
-                autoref.setup_ssl_wrapper_packets(autoref_proto_unix_io,)
+                autoref.setup_ssl_wrapper_packets(
+                    autoref_proto_unix_io,
+                )
 
             # Start the simulator
             sim_ticker_thread = threading.Thread(

From 60dad8133a18e30f5558bdda58066bf03ed60766 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Tue, 11 Jun 2024 10:27:55 +0000
Subject: [PATCH 16/24] [pre-commit.ci lite] apply automatic fixes

---
 .../field_tests/field_test_fixture.py         |  3 +--
 .../game_controller.py                        | 13 +++++--------
 .../thunderscope/robot_communication.py       |  2 +-
 .../thunderscope/thunderscope_main.py         | 19 +++++--------------
 4 files changed, 12 insertions(+), 25 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index d959e0aa92..80faad354b 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -413,8 +413,7 @@ def field_test_runner():
         rc_friendly.setup_for_fullsystem()
 
         gamecontroller.setup_proto_unix_io(
-            blue_full_system_proto_unix_io,
-            yellow_full_system_proto_unix_io,
+            blue_full_system_proto_unix_io, yellow_full_system_proto_unix_io,
         )
         # Inject the proto unix ios into thunderscope and start the test
         tscope = Thunderscope(
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index ce95461507..bf9a792e7f 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -31,7 +31,7 @@ def __init__(
         self,
         supress_logs: bool = False,
         use_unconventional_port: bool = False,
-        not_launch_gc:bool = True
+        not_launch_gc: bool = True,
     ) -> None:
         """
         Run Gamecontroller
@@ -45,8 +45,8 @@ def __init__(
         self.not_launch_gc = not_launch_gc
 
         if use_unconventional_port:
-            # the intention of setting this port is to ensure that we don't listen other people's 
-            # gamecontroller. It is highly unlikely that other people would use port 12393 since 
+            # the intention of setting this port is to ensure that we don't listen other people's
+            # gamecontroller. It is highly unlikely that other people would use port 12393 since
             # this is a random number that was set by us!
             self.referee_port = self.next_free_port(start_port=12393)
         else:
@@ -76,7 +76,7 @@ def __enter__(self) -> "self":
         :return: gamecontroller context managed instance
 
         """
-        # sometimes we do not want to launch the gameconntroller because we are in robocup 
+        # sometimes we do not want to launch the gameconntroller because we are in robocup
         # the referee at robotcup would be the person launching the gamecontroller.
         if not self.not_launch_gc:
             command = ["/opt/tbotspython/gamecontroller", "--timeAcquisitionMode", "ci"]
@@ -193,10 +193,7 @@ def __send_referee_command(data: Referee) -> None:
                 autoref_proto_unix_io.send_proto(Referee, data)
 
         self.receive_referee_command = tbots_cpp.SSLRefereeProtoListener(
-            self.REFEREE_IP,
-            self.referee_port,
-            __send_referee_command,
-            True,
+            self.REFEREE_IP, self.referee_port, __send_referee_command, True,
         )
 
         blue_full_system_proto_unix_io.register_observer(
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index c14a5db565..705625b639 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -28,7 +28,7 @@ def __init__(
         estop_baudrate: int = 115200,
         enable_radio: bool = False,
         sslvision_address: str = None,
-        referee_port:int = SSL_REFEREE_PORT
+        referee_port: int = SSL_REFEREE_PORT,
     ):
         """Initialize the communication with the robots
 
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index c0db9eae22..a11734ee3c 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -237,7 +237,7 @@
         "--not_launch_gc",
         action="store_true",
         default=False,
-        help="whether we are launching gamecontroller or not"
+        help="whether we are launching gamecontroller or not",
     )
 
     args = parser.parse_args()
@@ -310,10 +310,7 @@
             args.run_diagnostics,
             args.visualization_buffer_size,
         )
-        tscope = Thunderscope(
-            config=tscope_config,
-            layout_path=args.layout,
-        )
+        tscope = Thunderscope(config=tscope_config, layout_path=args.layout,)
 
         current_proto_unix_io = None
 
@@ -369,9 +366,7 @@
                     if args.run_blue
                     else args.yellow_full_system_runtime_dir
                 )
-                with ProtoLogger(
-                    full_system_runtime_dir,
-                ) as logger, FullSystem(
+                with ProtoLogger(full_system_runtime_dir,) as logger, FullSystem(
                     full_system_runtime_dir=runtime_dir,
                     debug_full_system=debug,
                     friendly_colour_yellow=friendly_colour_yellow,
@@ -394,9 +389,7 @@
     elif args.blue_log or args.yellow_log:
         tscope = Thunderscope(
             config=config.configure_replay_view(
-                args.blue_log,
-                args.yellow_log,
-                args.visualization_buffer_size,
+                args.blue_log, args.yellow_log, args.visualization_buffer_size,
             ),
             layout_path=args.layout,
         )
@@ -509,9 +502,7 @@ def __ticker(tick_rate_ms: int) -> None:
                 autoref_proto_unix_io,
             )
             if args.enable_autoref:
-                autoref.setup_ssl_wrapper_packets(
-                    autoref_proto_unix_io,
-                )
+                autoref.setup_ssl_wrapper_packets(autoref_proto_unix_io,)
 
             # Start the simulator
             sim_ticker_thread = threading.Thread(

From b44cdcf55a4bffc0679b6e59f45b57ae0e1302d7 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Wed, 26 Jun 2024 21:54:32 +0800
Subject: [PATCH 17/24] added requested feature

---
 .../field_tests/field_test_fixture.py         | 16 ++++--
 .../game_controller.py                        | 37 +++++++-------
 .../thunderscope/robot_communication.py       | 11 ++--
 .../thunderscope/thunderscope_main.py         | 50 +++++++++++--------
 4 files changed, 62 insertions(+), 52 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 80faad354b..62cecdb9b4 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -358,6 +358,14 @@ def load_command_line_arguments():
     return parser.parse_args()
 
 
+def get_referee_port(gamecontroller: Gamecontroller):
+    if gamecontroller is not None:
+        print("Using a weird gamecontroller port")
+        return gamecontroller.get_referee_port()
+    print("Using default port")
+    return 40000
+
+
 @pytest.fixture
 def field_test_runner():
     """
@@ -395,9 +403,9 @@ def field_test_runner():
         friendly_colour_yellow=args.run_yellow,
         should_restart_on_crash=False,
     ) as friendly_fs, Gamecontroller(
-        use_unconventional_port=args.use_unconventional_port,
-        not_launch_gc=args.not_launch_gc,
+        # we would be using conventional port if and only if we are playing in robocup.
         supress_logs=(not args.show_gamecontroller_logs),
+        use_conventional_port=False
     ) as gamecontroller, RobotCommunication(
         current_proto_unix_io=friendly_proto_unix_io,
         multicast_channel=getRobotMulticastChannel(args.channel),
@@ -408,12 +416,12 @@ def field_test_runner():
         sslvision_address=args.sslvision_multicast_address,
         referee_port=gamecontroller.get_referee_port(),
     ) as rc_friendly:
-
         friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
         rc_friendly.setup_for_fullsystem()
 
         gamecontroller.setup_proto_unix_io(
-            blue_full_system_proto_unix_io, yellow_full_system_proto_unix_io,
+            blue_full_system_proto_unix_io,
+            yellow_full_system_proto_unix_io,
         )
         # Inject the proto unix ios into thunderscope and start the test
         tscope = Thunderscope(
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index bf9a792e7f..1e74452492 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import random
 import logging
 import os
 import socket
@@ -27,14 +28,8 @@ class Gamecontroller(object):
     REFEREE_IP = "224.5.23.1"
     CI_MODE_OUTPUT_RECEIVE_BUFFER_SIZE = 9000
 
-    def __init__(
-        self,
-        supress_logs: bool = False,
-        use_unconventional_port: bool = False,
-        not_launch_gc: bool = True,
-    ) -> None:
-        """
-        Run Gamecontroller
+    def __init__(self, supress_logs: bool = False, use_conventional_port=False) -> None:
+        """Run Gamecontroller
 
         :param supress_logs: Whether to suppress the logs
         :disregard_gamecontroller_port: if set to True, the gamecontroller port would be set to 12393, else it would highly likely be 40000, i.e. the default port that everybodies uses!
@@ -42,7 +37,6 @@ def __init__(
         """
 
         self.supress_logs = supress_logs
-        self.not_launch_gc = not_launch_gc
 
         if use_unconventional_port:
             # the intention of setting this port is to ensure that we don't listen other people's
@@ -54,7 +48,17 @@ def __init__(
             self.referee_port = self.next_free_port()
 
         self.ci_port = self.next_free_port()
+        # we are not using conventional by default since most of the time 
+        # we are not in competition and. Thus, we would be conflicting with 
+        # each other if we are using conventional port
+        self.referee_port = self.next_free_port(random.randint(1024, 65535))
+        if use_conventional_port: 
+            if not self.is_valid_port(40000):
+                raise OSError("Cannot use port 40000 for Gamecontroller")
 
+            self.referee_port = 40000
+
+        self.ci_port = self.next_free_port()
         # this allows gamecontroller to listen to override commands
         self.command_override_buffer = ThreadSafeBuffer(
             buffer_size=2, protobuf_type=ManualGCCommand
@@ -84,12 +88,9 @@ def __enter__(self) -> "self":
             command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
             command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
-            if self.supress_logs:
-                with open(os.devnull, "w") as fp:
-                    self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
-
-            else:
-                self.gamecontroller_proc = Popen(command)
+        if self.supress_logs:
+            with open(os.devnull, "w") as fp:
+                self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
 
             # We can't connect to the ci port right away, it takes
             # CI_MODE_LAUNCH_DELAY_S to start up the gamecontroller
@@ -134,12 +135,12 @@ def refresh(self):
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
-    def is_valid_port(self, port: int) -> bool:
+    def is_valid_port(self, port):
         """
-        Check if a port is available
+        determine whether or not a given port is valid
 
         :param port: the port we are checking
-        :return: True if the port is available, False otherwise
+        :return: True if a port is valid False otherwise
         """
         sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 705625b639..9ed8466dce 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -27,8 +27,7 @@ def __init__(
         estop_path: os.PathLike = None,
         estop_baudrate: int = 115200,
         enable_radio: bool = False,
-        sslvision_address: str = None,
-        referee_port: int = SSL_REFEREE_PORT,
+        referee_port: int = SSL_REFEREE_PORT
     ):
         """Initialize the communication with the robots
 
@@ -39,15 +38,11 @@ def __init__(
         :param estop_path: The path to the estop
         :param estop_baudrate: The baudrate of the estop
         :param enable_radio: Whether to use radio to send primitives to robots
+        :param referee_port: the referee port that we are using
 
         """
-        # setting up the ssl vision and referee addresses
-        self.ssl_vision_address = sslvision_address
-        if self.ssl_vision_address is None:
-            self.ssl_vision_address = SSL_VISION_ADDRESS
 
         self.referee_port = referee_port
-
         self.receive_ssl_referee_proto = None
         self.receive_ssl_wrapper = None
         self.sequence_number = 0
@@ -122,7 +117,7 @@ def setup_for_fullsystem(self) -> None:
 
         self.receive_ssl_referee_proto = tbots_cpp.SSLRefereeProtoListener(
             SSL_REFEREE_ADDRESS,
-            SSL_REFEREE_PORT,
+            self.referee_port,
             lambda data: self.current_proto_unix_io.send_proto(Referee, data),
             True,
         )
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index a11734ee3c..6fdcf43c59 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -220,24 +220,10 @@
     )
 
     parser.add_argument(
-        "--sslvision_multicast_address",
-        type=str,
-        default=SSL_VISION_ADDRESS,
-        help="the multicast address for ssl vision",
-    )
-
-    parser.add_argument(
-        "--use_unconventional_port",
+        "--launch_gc",
         action="store_true",
         default=False,
-        help="setting this option would cause gamecontroller to bind on an unconventional port, likely 12393",
-    )
-
-    parser.add_argument(
-        "--not_launch_gc",
-        action="store_true",
-        default=False,
-        help="whether we are launching gamecontroller or not",
+        help="wheter or not to launch the gamecontroller when --run_blue or --run_yellow is ran",
     )
 
     args = parser.parse_args()
@@ -310,7 +296,10 @@
             args.run_diagnostics,
             args.visualization_buffer_size,
         )
-        tscope = Thunderscope(config=tscope_config, layout_path=args.layout,)
+        tscope = Thunderscope(
+            config=tscope_config,
+            layout_path=args.layout,
+        )
 
         current_proto_unix_io = None
 
@@ -332,14 +321,25 @@
             args.keyboard_estop, args.disable_communication
         )
 
-        with RobotCommunication(
+        def get_referee_port(gamecontroller: Gamecontroller):
+            if gamecontroller is not None:
+                print("Using a weird gamecontroller port")
+                return gamecontroller.get_referee_port()
+            print("Using default port")
+            return 40000
+
+        with (
+            Gamecontroller(supress_logs=(not args.verbose), use_conventional_port=False)
+            if args.launch_gc
+            else contextlib.nullcontext()
+        ) as gamecontroller, RobotCommunication(
             current_proto_unix_io=current_proto_unix_io,
             multicast_channel=getRobotMulticastChannel(args.channel),
             interface=args.interface,
             estop_mode=estop_mode,
             estop_path=estop_path,
             enable_radio=args.enable_radio,
-            sslvision_address=args.sslvision_multicast_address,
+            referee_port=get_referee_port(gamecontroller),
         ) as robot_communication:
 
             if estop_mode == EstopMode.KEYBOARD_ESTOP:
@@ -366,7 +366,9 @@
                     if args.run_blue
                     else args.yellow_full_system_runtime_dir
                 )
-                with ProtoLogger(full_system_runtime_dir,) as logger, FullSystem(
+                with ProtoLogger(
+                    full_system_runtime_dir,
+                ) as logger, FullSystem(
                     full_system_runtime_dir=runtime_dir,
                     debug_full_system=debug,
                     friendly_colour_yellow=friendly_colour_yellow,
@@ -389,7 +391,9 @@
     elif args.blue_log or args.yellow_log:
         tscope = Thunderscope(
             config=config.configure_replay_view(
-                args.blue_log, args.yellow_log, args.visualization_buffer_size,
+                args.blue_log,
+                args.yellow_log,
+                args.visualization_buffer_size,
             ),
             layout_path=args.layout,
         )
@@ -502,7 +506,9 @@ def __ticker(tick_rate_ms: int) -> None:
                 autoref_proto_unix_io,
             )
             if args.enable_autoref:
-                autoref.setup_ssl_wrapper_packets(autoref_proto_unix_io,)
+                autoref.setup_ssl_wrapper_packets(
+                    autoref_proto_unix_io,
+                )
 
             # Start the simulator
             sim_ticker_thread = threading.Thread(

From 0c984eb6d1c5566c0159a4a7516d9af4b86d0bbc Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Wed, 26 Jun 2024 22:26:55 +0800
Subject: [PATCH 18/24] added comments and remove necessary print statements

---
 src/software/field_tests/field_test_fixture.py | 8 ++++++--
 src/software/thunderscope/thunderscope_main.py | 8 ++++++--
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 62cecdb9b4..238193e468 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -359,10 +359,14 @@ def load_command_line_arguments():
 
 
 def get_referee_port(gamecontroller: Gamecontroller):
+    """
+    return the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
+
+    :param gamecontroller: the gamecontroller we are using
+    :return: the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
+    """
     if gamecontroller is not None:
-        print("Using a weird gamecontroller port")
         return gamecontroller.get_referee_port()
-    print("Using default port")
     return 40000
 
 
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 6fdcf43c59..b1ef596279 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -322,10 +322,14 @@
         )
 
         def get_referee_port(gamecontroller: Gamecontroller):
+            """
+            return the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
+
+            :param gamecontroller: the gamecontroller we are using
+            :return: the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
+            """
             if gamecontroller is not None:
-                print("Using a weird gamecontroller port")
                 return gamecontroller.get_referee_port()
-            print("Using default port")
             return 40000
 
         with (

From 749fb3f432ef05048161c44695cfff004cfa60b7 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Wed, 26 Jun 2024 22:57:46 +0800
Subject: [PATCH 19/24] remove code that are non necessary

---
 .../field_tests/field_test_fixture.py         | 21 --------
 .../simulated_tests/simulated_test_fixture.py |  3 +-
 .../game_controller.py                        | 51 +++++++------------
 .../thunderscope/robot_communication.py       |  2 +-
 .../thunderscope/thunderscope_main.py         |  4 +-
 5 files changed, 22 insertions(+), 59 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 238193e468..6d448d73b9 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -320,27 +320,6 @@ def load_command_line_arguments():
         help="Run the test with friendly robots in yellow mode",
     )
 
-    parser.add_argument(
-        "--sslvision_multicast_address",
-        type=str,
-        default=SSL_VISION_ADDRESS,
-        help="the multicast address for ssl vision",
-    )
-
-    parser.add_argument(
-        "--use_unconventional_port",
-        action="store_true",
-        default=False,
-        help="setting this option would cause gamecontroller to bind on an unconventional port, likely 12393",
-    )
-
-    parser.add_argument(
-        "--not_launch_gc",
-        action="store_true",
-        default=False,
-        help="whether we are launching gamecontroller or not",
-    )
-
     estop_group = parser.add_mutually_exclusive_group()
     estop_group.add_argument(
         "--keyboard_estop",
diff --git a/src/software/simulated_tests/simulated_test_fixture.py b/src/software/simulated_tests/simulated_test_fixture.py
index 9a31c168dc..104f1a407a 100644
--- a/src/software/simulated_tests/simulated_test_fixture.py
+++ b/src/software/simulated_tests/simulated_test_fixture.py
@@ -493,7 +493,6 @@ def load_command_line_arguments():
         default=False,
         help="Use realism in the simulator",
     )
-
     return parser.parse_args()
 
 
@@ -543,7 +542,7 @@ def simulated_test_runner():
         should_restart_on_crash=False,
     ) as yellow_fs:
         with Gamecontroller(
-            supress_logs=(not args.show_gamecontroller_logs),
+            supress_logs=(not args.show_gamecontroller_logs)
         ) as gamecontroller:
 
             blue_fs.setup_proto_unix_io(blue_full_system_proto_unix_io)
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 1e74452492..af421fbad6 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -32,21 +32,11 @@ def __init__(self, supress_logs: bool = False, use_conventional_port=False) -> N
         """Run Gamecontroller
 
         :param supress_logs: Whether to suppress the logs
-        :disregard_gamecontroller_port: if set to True, the gamecontroller port would be set to 12393, else it would highly likely be 40000, i.e. the default port that everybodies uses!
         :not_launch_gc Whether to launch the gamecontroller or not!
         """
 
         self.supress_logs = supress_logs
 
-        if use_unconventional_port:
-            # the intention of setting this port is to ensure that we don't listen other people's
-            # gamecontroller. It is highly unlikely that other people would use port 12393 since
-            # this is a random number that was set by us!
-            self.referee_port = self.next_free_port(start_port=12393)
-        else:
-            # highly likely being 40000, the default gamecontroller port!
-            self.referee_port = self.next_free_port()
-
         self.ci_port = self.next_free_port()
         # we are not using conventional by default since most of the time 
         # we are not in competition and. Thus, we would be conflicting with 
@@ -75,27 +65,27 @@ def get_referee_port(self) -> int:
         return self.referee_port
 
     def __enter__(self) -> "self":
-        """Enter the gamecontroller context manager.
+        """Enter the gamecontroller context manager. 
 
         :return: gamecontroller context managed instance
 
         """
-        # sometimes we do not want to launch the gameconntroller because we are in robocup
-        # the referee at robotcup would be the person launching the gamecontroller.
-        if not self.not_launch_gc:
-            command = ["/opt/tbotspython/gamecontroller", "--timeAcquisitionMode", "ci"]
+        command = ["/opt/tbotspython/gamecontroller", "--timeAcquisitionMode", "ci"]
 
-            command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
-            command += ["-ciAddress", f"localhost:{self.ci_port}"]
+        command += ["-publishAddress", f"{self.REFEREE_IP}:{self.referee_port}"]
+        command += ["-ciAddress", f"localhost:{self.ci_port}"]
 
         if self.supress_logs:
             with open(os.devnull, "w") as fp:
                 self.gamecontroller_proc = Popen(command, stdout=fp, stderr=fp)
 
-            # We can't connect to the ci port right away, it takes
-            # CI_MODE_LAUNCH_DELAY_S to start up the gamecontroller
-            time.sleep(Gamecontroller.CI_MODE_LAUNCH_DELAY_S)
-            self.ci_socket = SslSocket(self.ci_port)
+        else:
+            self.gamecontroller_proc = Popen(command)
+
+        # We can't connect to the ci port right away, it takes
+        # CI_MODE_LAUNCH_DELAY_S to start up the gamecontroller
+        time.sleep(Gamecontroller.CI_MODE_LAUNCH_DELAY_S)
+        self.ci_socket = SslSocket(self.ci_port)
 
         return self
 
@@ -122,16 +112,13 @@ def refresh(self):
             self.send_gc_command(
                 gc_command=manual_command.manual_command.type,
                 team=manual_command.manual_command.for_team,
-                final_ball_placement_point=(
-                    tbots_cpp.Point(
-                        manual_command.final_ball_placement_point.x,
-                        manual_command.final_ball_placement_point.y,
-                    )
-                    # HasField checks if the field was manually set by us
-                    # as opposed to if a value exists (since a default value always exists)
-                    if manual_command.HasField("final_ball_placement_point")
-                    else None
-                ),
+                final_ball_placement_point=tbots_cpp.Point(
+                    manual_command.final_ball_placement_point.x,
+                    manual_command.final_ball_placement_point.y,
+                )
+                # HasField checks if the field was manually set by us
+                # as opposed to if a value exists (since a default value always exists)
+                if manual_command.HasField("final_ball_placement_point") else None,
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
@@ -194,7 +181,7 @@ def __send_referee_command(data: Referee) -> None:
                 autoref_proto_unix_io.send_proto(Referee, data)
 
         self.receive_referee_command = tbots_cpp.SSLRefereeProtoListener(
-            self.REFEREE_IP, self.referee_port, __send_referee_command, True,
+            Gamecontroller.REFEREE_IP, self.referee_port, __send_referee_command, True,
         )
 
         blue_full_system_proto_unix_io.register_observer(
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 9ed8466dce..4994b5e978 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -109,7 +109,7 @@ def setup_for_fullsystem(self) -> None:
         Sets up a listener for SSL vision and referee data, and connects all robots to fullsystem as default
         """
         self.receive_ssl_wrapper = tbots_cpp.SSLWrapperPacketProtoListener(
-            self.ssl_vision_address,
+            SSL_VISION_ADDRESS,
             SSL_VISION_PORT,
             lambda data: self.__forward_to_proto_unix_io(SSL_WrapperPacket, data),
             True,
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index b1ef596279..ef58dc2a73 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -459,9 +459,7 @@ def __ticker(tick_rate_ms: int) -> None:
             should_restart_on_crash=False,
             run_sudo=args.sudo,
         ) as yellow_fs, Gamecontroller(
-            supress_logs=(not args.verbose),
-            use_unconventional_port=args.use_unconventional_port,
-            not_launch_gc=args.not_launch_gc,
+            supress_logs=(not args.verbose)
         ) as gamecontroller, (
             # Here we only initialize autoref if the --enable_autoref flag is requested.
             # To avoid nested Python withs, the autoref is initialized as None when this flag doesn't exist.

From f3a42e720212aafb1a900ed52d968ac87e0e0964 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Wed, 26 Jun 2024 23:07:02 +0800
Subject: [PATCH 20/24] removed one line of legacy code

---
 src/software/field_tests/field_test_fixture.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 6d448d73b9..a041b04dbd 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -396,7 +396,6 @@ def field_test_runner():
         estop_mode=estop_mode,
         estop_path=estop_path,
         enable_radio=args.enable_radio,
-        sslvision_address=args.sslvision_multicast_address,
         referee_port=gamecontroller.get_referee_port(),
     ) as rc_friendly:
         friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)

From bed3109d88bc294ab6b3f93523f80a1d571c48e3 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Wed, 26 Jun 2024 15:07:27 +0000
Subject: [PATCH 21/24] [pre-commit.ci lite] apply automatic fixes

---
 src/software/field_tests/field_test_fixture.py  |  5 ++---
 .../binary_context_managers/game_controller.py  |  6 +++---
 .../thunderscope/robot_communication.py         |  2 +-
 src/software/thunderscope/thunderscope_main.py  | 17 ++++-------------
 4 files changed, 10 insertions(+), 20 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 6d448d73b9..2eb47abf0d 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -388,7 +388,7 @@ def field_test_runner():
     ) as friendly_fs, Gamecontroller(
         # we would be using conventional port if and only if we are playing in robocup.
         supress_logs=(not args.show_gamecontroller_logs),
-        use_conventional_port=False
+        use_conventional_port=False,
     ) as gamecontroller, RobotCommunication(
         current_proto_unix_io=friendly_proto_unix_io,
         multicast_channel=getRobotMulticastChannel(args.channel),
@@ -403,8 +403,7 @@ def field_test_runner():
         rc_friendly.setup_for_fullsystem()
 
         gamecontroller.setup_proto_unix_io(
-            blue_full_system_proto_unix_io,
-            yellow_full_system_proto_unix_io,
+            blue_full_system_proto_unix_io, yellow_full_system_proto_unix_io,
         )
         # Inject the proto unix ios into thunderscope and start the test
         tscope = Thunderscope(
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index af421fbad6..b156c3405b 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -38,11 +38,11 @@ def __init__(self, supress_logs: bool = False, use_conventional_port=False) -> N
         self.supress_logs = supress_logs
 
         self.ci_port = self.next_free_port()
-        # we are not using conventional by default since most of the time 
-        # we are not in competition and. Thus, we would be conflicting with 
+        # we are not using conventional by default since most of the time
+        # we are not in competition and. Thus, we would be conflicting with
         # each other if we are using conventional port
         self.referee_port = self.next_free_port(random.randint(1024, 65535))
-        if use_conventional_port: 
+        if use_conventional_port:
             if not self.is_valid_port(40000):
                 raise OSError("Cannot use port 40000 for Gamecontroller")
 
diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
index 4994b5e978..b9cbb06279 100644
--- a/src/software/thunderscope/robot_communication.py
+++ b/src/software/thunderscope/robot_communication.py
@@ -27,7 +27,7 @@ def __init__(
         estop_path: os.PathLike = None,
         estop_baudrate: int = 115200,
         enable_radio: bool = False,
-        referee_port: int = SSL_REFEREE_PORT
+        referee_port: int = SSL_REFEREE_PORT,
     ):
         """Initialize the communication with the robots
 
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index ef58dc2a73..634c87df79 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -296,10 +296,7 @@
             args.run_diagnostics,
             args.visualization_buffer_size,
         )
-        tscope = Thunderscope(
-            config=tscope_config,
-            layout_path=args.layout,
-        )
+        tscope = Thunderscope(config=tscope_config, layout_path=args.layout,)
 
         current_proto_unix_io = None
 
@@ -370,9 +367,7 @@ def get_referee_port(gamecontroller: Gamecontroller):
                     if args.run_blue
                     else args.yellow_full_system_runtime_dir
                 )
-                with ProtoLogger(
-                    full_system_runtime_dir,
-                ) as logger, FullSystem(
+                with ProtoLogger(full_system_runtime_dir,) as logger, FullSystem(
                     full_system_runtime_dir=runtime_dir,
                     debug_full_system=debug,
                     friendly_colour_yellow=friendly_colour_yellow,
@@ -395,9 +390,7 @@ def get_referee_port(gamecontroller: Gamecontroller):
     elif args.blue_log or args.yellow_log:
         tscope = Thunderscope(
             config=config.configure_replay_view(
-                args.blue_log,
-                args.yellow_log,
-                args.visualization_buffer_size,
+                args.blue_log, args.yellow_log, args.visualization_buffer_size,
             ),
             layout_path=args.layout,
         )
@@ -508,9 +501,7 @@ def __ticker(tick_rate_ms: int) -> None:
                 autoref_proto_unix_io,
             )
             if args.enable_autoref:
-                autoref.setup_ssl_wrapper_packets(
-                    autoref_proto_unix_io,
-                )
+                autoref.setup_ssl_wrapper_packets(autoref_proto_unix_io,)
 
             # Start the simulator
             sim_ticker_thread = threading.Thread(

From 1e8fcbab3cd0f20e1dd3e80461bb4bcf4d5f3b35 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Wed, 26 Jun 2024 15:20:20 +0000
Subject: [PATCH 22/24] [pre-commit.ci lite] apply automatic fixes

---
 src/software/thunderscope/thunderscope_main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 634c87df79..edfd0143af 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -223,7 +223,7 @@
         "--launch_gc",
         action="store_true",
         default=False,
-        help="wheter or not to launch the gamecontroller when --run_blue or --run_yellow is ran",
+        help="whether or not to launch the gamecontroller when --run_blue or --run_yellow is ran",
     )
 
     args = parser.parse_args()

From 3218a323c9b9c6fb910ae84a309b0004f2e54e07 Mon Sep 17 00:00:00 2001
From: Mr-Anyone <53135664+Mr-Anyone@users.noreply.github.com>
Date: Fri, 28 Jun 2024 11:37:13 +0800
Subject: [PATCH 23/24] refactored function

---
 src/software/field_tests/field_test_fixture.py    | 15 +--------------
 .../binary_context_managers/game_controller.py    | 13 +++++++++++++
 src/software/thunderscope/thunderscope_main.py    | 12 +-----------
 3 files changed, 15 insertions(+), 25 deletions(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 787d458e29..5949712a29 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -336,19 +336,6 @@ def load_command_line_arguments():
 
     return parser.parse_args()
 
-
-def get_referee_port(gamecontroller: Gamecontroller):
-    """
-    return the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
-
-    :param gamecontroller: the gamecontroller we are using
-    :return: the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
-    """
-    if gamecontroller is not None:
-        return gamecontroller.get_referee_port()
-    return 40000
-
-
 @pytest.fixture
 def field_test_runner():
     """
@@ -396,7 +383,7 @@ def field_test_runner():
         estop_mode=estop_mode,
         estop_path=estop_path,
         enable_radio=args.enable_radio,
-        referee_port=gamecontroller.get_referee_port(),
+        referee_port=Gamecontroller.get_referee_port_staticmethod(gamecontroller),
     ) as rc_friendly:
         friendly_fs.setup_proto_unix_io(friendly_proto_unix_io)
         rc_friendly.setup_for_fullsystem()
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index b156c3405b..d85e66298a 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -54,6 +54,19 @@ def __init__(self, supress_logs: bool = False, use_conventional_port=False) -> N
             buffer_size=2, protobuf_type=ManualGCCommand
         )
 
+    @staticmethod
+    def get_referee_port_staticmethod(gamecontroller: Gamecontroller):
+        """
+        return the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
+
+        :param gamecontroller: the gamecontroller we are using
+        :return: the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
+        """
+        if gamecontroller is not None:
+            return gamecontroller.get_referee_port()
+
+        return 40000
+
     def get_referee_port(self) -> int:
         """
         Sometimes, the port that we are using changes depending on context.
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 634c87df79..a1f8ca4c8d 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -318,16 +318,6 @@
             args.keyboard_estop, args.disable_communication
         )
 
-        def get_referee_port(gamecontroller: Gamecontroller):
-            """
-            return the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
-
-            :param gamecontroller: the gamecontroller we are using
-            :return: the default port if gamecontroller is None, otherwise the port that the gamecontroller is using.
-            """
-            if gamecontroller is not None:
-                return gamecontroller.get_referee_port()
-            return 40000
 
         with (
             Gamecontroller(supress_logs=(not args.verbose), use_conventional_port=False)
@@ -340,7 +330,7 @@ def get_referee_port(gamecontroller: Gamecontroller):
             estop_mode=estop_mode,
             estop_path=estop_path,
             enable_radio=args.enable_radio,
-            referee_port=get_referee_port(gamecontroller),
+            referee_port=Gamecontroller.get_referee_port_staticmethod(gamecontroller),
         ) as robot_communication:
 
             if estop_mode == EstopMode.KEYBOARD_ESTOP:

From cf668bfeaff698097aadce1d01c60b4c731322c6 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Fri, 28 Jun 2024 03:46:15 +0000
Subject: [PATCH 24/24] [pre-commit.ci lite] apply automatic fixes

---
 src/software/field_tests/field_test_fixture.py | 1 +
 src/software/thunderscope/thunderscope_main.py | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/software/field_tests/field_test_fixture.py b/src/software/field_tests/field_test_fixture.py
index 5949712a29..77e0f87c22 100644
--- a/src/software/field_tests/field_test_fixture.py
+++ b/src/software/field_tests/field_test_fixture.py
@@ -336,6 +336,7 @@ def load_command_line_arguments():
 
     return parser.parse_args()
 
+
 @pytest.fixture
 def field_test_runner():
     """
diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
index 50cd79ec56..ee940d5d3f 100644
--- a/src/software/thunderscope/thunderscope_main.py
+++ b/src/software/thunderscope/thunderscope_main.py
@@ -318,7 +318,6 @@
             args.keyboard_estop, args.disable_communication
         )
 
-
         with (
             Gamecontroller(supress_logs=(not args.verbose), use_conventional_port=False)
             if args.launch_gc