Field Test Framework (#2906)

* ready to field test

* cleaning up errors

* more changes to remove errors

* field test was running without tscope!

* fixed duplicate show thunderscope problem

* working field tests!

* lots of warnings

* lots of errors

* more debugging?

* the debugging NEVER ENDS

* more logs

* works!

* stuff

* working?

* it works on old thunderloop!

* reverted threadsafebuffer owner debugging changes

* removing print statements'

* not working

* WORKING OMG

* formatting

* more formatting and pr cleanup

* exclude field tests from software tests CI

* PR cleanup

* more cleanup

* updated to match comments

* fixed formatting

* added some comments for timeout code in protoudplistener.cpp

* removed second full system, added flag to switch between running yellow and blue

* [pre-commit.ci lite] apply automatic fixes

* cleaned up

* [pre-commit.ci lite] apply automatic fixes

* removed set_worldState and added TODO

* formatting because pre commit bot failed

* added pivot kick test'

* formatting

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

.github/workflows/main.yml

@@ -29,6 +29,7 @@ jobs:
             -- //... -//software:unix_full_system \
             -//software/simulated_tests/...  \
             -//software/ai/hl/...            \
+            -//software/field_tests/...      \
 
   jetson-nano-tests:
     name: Jetson Nano Software Tests

src/software/field_tests/BUILD

@@ -0,0 +1,61 @@
+package(default_visibility = ["//visibility:public"])
+
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
+py_library(
+    name = "field_test_fixture",
+    srcs = [
+        "field_test_fixture.py",
+    ],
+    data = [
+        "//software:py_constants.so",
+    ],
+    deps = [
+        "//proto:import_all_protos",
+        "//software/logger:py_logger",
+        "//software/networking:threaded_unix_listener_py",
+        "//software/networking:threaded_unix_sender_py",
+        "//software/simulated_tests:tbots_test_runner",
+        "//software/simulated_tests:validation",
+        "//software/thunderscope",
+        "//software/thunderscope:binary_context_managers",
+        "//software/thunderscope:robot_communication",
+        "//software/thunderscope/replay:proto_logger",
+    ],
+)
+
+py_test(
+    name = "movement_robot_field_test",
+    srcs = [
+        "movement_robot_field_test.py",
+    ],
+    # TODO (#2619) Remove tag to run in parallel
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software/field_tests:field_test_fixture",
+        "//software/simulated_tests:simulated_test_fixture",
+        "//software/simulated_tests:tbots_test_runner",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)
+
+py_test(
+    name = "pivot_kick_field_test",
+    srcs = [
+        "pivot_kick_field_test.py",
+    ],
+    # TODO (#2619) Remove tag to run in parallel
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software/field_tests:field_test_fixture",
+        "//software/simulated_tests:simulated_test_fixture",
+        "//software/simulated_tests:tbots_test_runner",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)