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

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
         """
@@ -320,6 +320,27 @@ 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",
@@ -373,84 +394,88 @@ 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,
+        sslvision_address=args.sslvision_multicast_address,
+        referee_port=gamecontroller.get_referee_port(),
     ) as rc_friendly:
-        with Gamecontroller(
-            supress_logs=(not args.show_gamecontroller_logs)
-        ) 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,
+            )

src/software/networking/ssl_proto_communication.py

@@ -34,9 +34,14 @@ 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:
         """

src/software/simulated_tests/simulated_test_fixture.py

@@ -493,6 +493,7 @@ def load_command_line_arguments():
         default=False,
         help="Use realism in the simulator",
     )
+
     return parser.parse_args()
 
 
@@ -542,7 +543,7 @@ 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)