Thunderscope Hotfix (#3407)

* Wait for Thunderscope to launch before sending simulation ticks

* fix launch delay issues

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

---------

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

Author: itsarune

environment_setup/setup_software.sh

@@ -108,6 +108,7 @@ virtualenv_opt_args=""
 if [[ $(lsb_release -rs) == "24.04" ]]; then
     host_software_packages+=(python3-pyqt6)
     host_software_packages+=(pyqt6-dev-tools)
+    host_software_packages+=(python3-pyqt6.qtsvg)
 
     virtualenv_opt_args="--system-site-packages"
 fi

environment_setup/ubuntu20_requirements.txt

@@ -7,4 +7,3 @@ python-Levenshtein==0.25.1
 psutil==5.9.0
 PyOpenGL==3.1.6
 ruff==0.5.5
-evdev==1.7.0

environment_setup/ubuntu22_requirements.txt

@@ -8,4 +8,3 @@ psutil==5.9.0
 PyOpenGL==3.1.6
 numpy==1.26.4
 ruff==0.5.5
-evdev==1.7.0

src/software/thunderscope/BUILD

@@ -47,8 +47,9 @@ py_library(
         "//software/thunderscope/binary_context_managers:game_controller",
         "//software/thunderscope/binary_context_managers:simulator",
         "//software/thunderscope/binary_context_managers:tigers_autoref",
-        requirement("pyqtgraph"),
         requirement("numpy"),
+        requirement("pyqtdarktheme-fork"),
+        requirement("pyqtgraph"),
     ],
 )
 

src/software/thunderscope/requirements.in

@@ -1,4 +1,6 @@
+evdev==1.7.0
 numpy==1.26.4
 protobuf==5.27.3
 pyqtgraph==0.13.7
 pyqtdarktheme-fork==2.3.2
+PyQt6-Qt6==6.6.1

src/software/thunderscope/requirements_lock.txt

@@ -8,6 +8,9 @@ darkdetect==0.7.1 \
     --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
     --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
     # via pyqtdarktheme-fork
+evdev==1.7.0 \
+    --hash=sha256:95bd2a1e0c6ce2cd7a2ecc6e6cd9736ff794b3ad5cb54d81d8cbc2e414d0b870
+    # via -r software/thunderscope/requirements.in
 numpy==1.26.4 \
     --hash=sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b \
     --hash=sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818 \
@@ -61,6 +64,12 @@ protobuf==5.27.3 \
     --hash=sha256:c84eee2c71ed83704f1afbf1a85c3171eab0fd1ade3b399b3fad0884cbcca8bf \
     --hash=sha256:dcb307cd4ef8fec0cf52cb9105a03d06fbb5275ce6d84a6ae33bc6cf84e0a07b
     # via -r software/thunderscope/requirements.in
+pyqt6-qt6==6.6.1 \
+    --hash=sha256:0409aa09b8dae90d5f00ba2d9761e671dfbc54ab169cff8f4cdfecd7f664fd0f \
+    --hash=sha256:41f1ed3eadc00540c205a0e897ae0e0fffc21b896e575214f7c5b9c86d2037d1 \
+    --hash=sha256:8dcac0bd9df13d63deafb6a61969b832c34467da4a28d2b7abf78066bfce22e6 \
+    --hash=sha256:e7df8851c93886412d890d0ecc62b39f42521861ee7a80982136d65903e1f2c5
+    # via -r software/thunderscope/requirements.in
 pyqtdarktheme-fork==2.3.2 \
     --hash=sha256:3ea94fed5df262d960378409357c63032639f749794d766f41a45ad8558b2523 \
     --hash=sha256:d96ee64f0884678fad9b6bc352d5e37d84ca786fa60ed32ffaa7e6c6bc67e964

src/software/thunderscope/robot_diagnostics/BUILD

@@ -35,6 +35,7 @@ py_library(
         ":handheld_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),
+        requirement("evdev"),
     ],
 )
 

src/software/thunderscope/thunderscope_main.py

@@ -421,7 +421,7 @@ def __ticker(tick_rate_ms: int) -> None:
 
             """
             sync_simulation(
-                tscope.proto_unix_io_map[ProtoUnixIOTypes.SIM],
+                tscope,
                 0 if args.empty else DIV_B_NUM_ROBOTS,
             )
 

src/software/thunderscope/util.py

@@ -3,6 +3,7 @@
 from proto.import_all_protos import *
 from proto.message_translation import tbots_protobuf
 from software.py_constants import SECONDS_PER_MILLISECOND
+from software.thunderscope.constants import ProtoUnixIOTypes
 from software.thunderscope.proto_unix_io import ProtoUnixIO
 from software.thunderscope.thread_safe_buffer import ThreadSafeBuffer
 from software.thunderscope.thunderscope import Thunderscope
@@ -100,6 +101,7 @@ def realtime_sim_ticker(
     """
     simulation_state_buffer = ThreadSafeBuffer(5, SimulationState)
     sim_proto_unix_io.register_observer(SimulationState, simulation_state_buffer)
+    per_tick_delay_s = tick_rate_ms * SECONDS_PER_MILLISECOND
 
     # Tick simulation if Thundersocpe is open
     while tscope.is_open():
@@ -109,18 +111,19 @@ def realtime_sim_ticker(
             tick = SimulatorTick(milliseconds=tick_rate_ms)
             sim_proto_unix_io.send_proto(SimulatorTick, tick)
 
-        time.sleep(
-            (tick_rate_ms * SECONDS_PER_MILLISECOND)
-            / simulation_state_message.simulation_speed
-        )
+        time.sleep(per_tick_delay_s / simulation_state_message.simulation_speed)
 
 
-def sync_simulation(sim_proto_unix_io: ProtoUnixIO, num_robots: int) -> None:
+def sync_simulation(
+    tscope: Thunderscope, num_robots: int, timeout_s: float = 0.1
+) -> None:
     """Ensure that simulator has synchronized with the default world state.
 
-    :param sim_proto_unix_io:   ProtoUnixIO for the Simulation
+    :param tscope:              Thunderscope instance that is tied to this instance of the simulation
     :param num_robots:          Number of robots to initialize the simulator with
+    :param timeout_s:           How long to wait before we retry our attempt to synchronize with the simulator
     """
+    sim_proto_unix_io = tscope.proto_unix_io_map[ProtoUnixIOTypes.SIM]
     world_state_received_buffer = ThreadSafeBuffer(1, WorldStateReceivedTrigger)
     sim_proto_unix_io.register_observer(
         WorldStateReceivedTrigger, world_state_received_buffer
@@ -132,11 +135,15 @@ def sync_simulation(sim_proto_unix_io: ProtoUnixIO, num_robots: int) -> None:
 
         try:
             world_state_received = world_state_received_buffer.get(
-                block=True, timeout=0.1
+                block=True, timeout=timeout_s
             )
         except queue.Empty:
             # Did not receive a response within timeout period
             continue
         else:
             # Received a response from the simulator
             break
+
+    # Wait for Thunderscope to launch
+    while not tscope.is_open():
+        time.sleep(timeout_s)