Remove SSL Simulation Protocol, Fix Replay on master and Remove Ubuntu 18 support (UBC-Thunderbots#2830)

* remove ssl simulation protocol

* fixing replay

* remove ubuntu 18 support + add load_blue and load_yellow flags for thunderscope

* remove 18 support wsl

* remove ubuntu 18 from workflows

* fix bad merge

Author: itsarune

.github/workflows/main.yml

@@ -123,20 +123,3 @@ jobs:
             //software:unix_full_system           \
             //software/simulated_tests/...   \
             //software/ai/hl/...
-
-  ubuntu-18-software-tests:
-    name: Ubuntu 18 Software Tests
-    runs-on: ubuntu-18.04
-    steps:
-      # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
-
-      - name: Environment Setup
-        run: |
-          "${GITHUB_WORKSPACE}"/environment_setup/setup_software.sh
-
-      - name: Software Geom Test
-        run: |
-          cd src
-          bazel test --show_timestamps       \
-            //software/geom/...

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "src/software/simulation/ssl_simulation_protocol"]
-	path = src/software/simulation/ssl_simulation_protocol
-	url = [email protected]:UBC-Thunderbots/SSL-Simulation-Protocol-Support.git

docs/getting-started-wsl.md

@@ -39,7 +39,7 @@ If you are not using Windows 11 and would prefer not to upgrade, you can follow
 3. Now, let's install Ubuntu.
     - Download the WSL2 kernel from [here](https://docs.microsoft.com/en-us/windows/wsl/wsl2-kernel).
     - Open a PowerShell window and run command `wsl --set-default-version 2` to use WSL2 by default.
-    - Install Ubuntu 18.04 LTS from the Microsoft Store.
+    - Install Ubuntu 20.04 LTS from the Microsoft Store.
     - Open the Ubuntu app in the Start menu. It will open a command prompt and ask you to create a new UNIX username and password for your WSL2 Ubuntu installation. 
 
 ### X Server Setup

environment_setup/setup_software.sh

@@ -88,18 +88,6 @@ if [[ $(lsb_release -rs) == "20.04" ]]; then
     ldconfig
 fi
 
-if [[ $(lsb_release -rs) == "18.04" ]]; then
-    # This is required for bazel, we've seen some issues where
-    # the bazel install hasn't installed it properly
-    host_software_packages+=(python-minimal)
-    host_software_packages+=(libclang-dev)
-    host_software_packages+=(python2.7-dev)
-    host_software_packages+=(python3.8)
-    host_software_packages+=(python3.8-dev)
-    host_software_packages+=(python3.8-venv)
-    host_software_packages+=(python3-setuptools)
-fi
-
 if ! sudo apt-get install "${host_software_packages[@]}" -y ; then
     print_status_msg "Error: Installing utilities and dependencies failed"
     exit 1
@@ -121,10 +109,6 @@ if ! sudo /opt/tbotspython/bin/python3 -m pip install --upgrade pip ; then
     exit 1
 fi
 
-if [[ $(lsb_release -rs) == "18.04" ]]; then
-    sudo /opt/tbotspython/bin/pip3 install -r ubuntu18_requirements.txt
-fi
-
 if [[ $(lsb_release -rs) == "20.04" ]]; then
     sudo /opt/tbotspython/bin/pip3 install -r ubuntu20_requirements.txt
 fi

environment_setup/ubuntu18_requirements.txt

@@ -398,6 +398,8 @@ def simulated_test_runner():
                     yellow_full_system_proto_unix_io,
                     layout_path=args.layout,
                     visualization_buffer_size=args.visualization_buffer_size,
+                    load_blue=True,
+                    load_yellow=True,
                 )
 
             time.sleep(LAUNCH_DELAY_S)

src/software/simulated_tests/simulated_test_fixture.py

@@ -3,20 +3,10 @@
 import textwrap
 import shelve
 import signal
-import platform
 import logging
 
-# PyQt5 doesn't play nicely with i3 and Ubuntu 18, PyQt6 is much more stable
-# Unfortunately, PyQt6 doesn't install on Ubuntu 18. Thankfully both
-# libraries are interchangeable, and  we just need to swap them in this
-# one spot, and pyqtgraph will pick up on it and store the library under
-# pyqtgraph.Qt. So from PyQt5 import x becomes from pyqtgraph.Qt import x
-if "18.04" in platform.version():
-    import PyQt5
-    from PyQt5.QtWebEngineWidgets import QWebEngineView
-else:
-    import PyQt6
-    from PyQt6.QtWebEngineWidgets import QWebEngineView
+import PyQt6
+from PyQt6.QtWebEngineWidgets import QWebEngineView
 
 from qt_material import apply_stylesheet, list_themes
 

src/software/simulation/ssl_simulation_protocol

@@ -185,6 +185,8 @@
         tscope = Thunderscope(
             layout_path=args.layout,
             visualization_buffer_size=args.visualization_buffer_size,
+            load_blue=True,
+            load_yellow=True,
             cost_visualization=args.cost_visualization,
         )
         proto_unix_io = tscope.blue_full_system_proto_unix_io
@@ -296,8 +298,11 @@
         tscope = Thunderscope(
             layout_path=args.layout,
             visualization_buffer_size=args.visualization_buffer_size,
+            load_blue=(args.blue_log is not None),
             blue_replay_log=args.blue_log,
+            load_yellow=(args.yellow_log is not None),
             yellow_replay_log=args.yellow_log,
+            load_gamecontroller=False,
             cost_visualization=args.cost_visualization,
         )
         tscope.show()