Gamecontroller can Bind to a Different Port Based on Command Line Argument

src/software/field_tests/field_test_fixture.py

@@ -313,6 +313,13 @@ 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",
@@ -382,7 +389,8 @@ 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()

src/software/simulated_tests/simulated_test_fixture.py

@@ -493,6 +493,13 @@ 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 +549,8 @@ 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)

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
@@ -37,7 +37,12 @@ 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 self.ci_port is None:
+            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(
@@ -102,7 +107,23 @@ def refresh(self):
             )
             manual_command = self.command_override_buffer.get(return_cached=False)
 
-    def next_free_port(self, port: int = 40000, max_port: int = 65535) -> None:
+    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
+        """
+        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, 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.
 
@@ -111,15 +132,10 @@ 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()
-                return port
-            except OSError:
-                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")
 

src/software/thunderscope/thunderscope_main.py

@@ -218,6 +218,13 @@
         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()
 
     # Sanity check that an interface was provided
@@ -428,7 +435,8 @@ 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.