Merge pull request #18 from sanmit/master

Updated referee model to broadcast last player to touch the ball

bin/Trainer.py

@@ -215,18 +215,23 @@ class Trainer(object):
     assert body[0] == 'referee', 'Expected referee message.'
     _,ts,event = body
     self._frame = int(ts)
-    if event == 'GOAL':
+    endOfTrial = False
+    if 'GOAL' in event:
       self._numGoals += 1
       self._numGoalFrames += self._frame - self._lastTrialStart
+      endOfTrial = True
     elif event == 'OUT_OF_BOUNDS':
       self._numBallsOOB += 1
-    elif event == 'CAPTURED_BY_DEFENSE':
+      endOfTrial = True
+    elif 'CAPTURED_BY_DEFENSE' in event:
       self._numBallsCaptured += 1
+      endOfTrial = True
     elif event == 'OUT_OF_TIME':
       self._numOutOfTime += 1
+      endOfTrial = True
     elif event == 'HFO_FINISHED':
       self._done = True
-    if event in {'GOAL','OUT_OF_BOUNDS','CAPTURED_BY_DEFENSE','OUT_OF_TIME'}:
+    if endOfTrial: 
       self._numTrials += 1
       print 'EndOfTrial: %d / %d %d %s'%\
         (self._numGoals, self._numTrials, self._frame, event)

example/communication_agent.py

@@ -39,18 +39,18 @@ if __name__ == '__main__':
       hfo_env.say('Message')
       status = hfo_env.step() 
   
-  print 'Episode', episode, 'ended with',
-  # Check what the outcome of the episode was
-  if status == HFO_Status.GOAL:
-    print 'goal'
-  elif status == HFO_Status.CAPTURED_BY_DEFENSE:
-    print 'captured by defense'
-  elif status == HFO_Status.OUT_OF_BOUNDS:
-    print 'out of bounds'
-  elif status == HFO_Status.OUT_OF_TIME:
-    print 'out of time'
-  else:
-    print 'Unknown status', status
-    exit()
+    print 'Episode', episode, 'ended with',
+    # Check what the outcome of the episode was
+    if status == HFO_Status.GOAL:
+      print 'goal', hfo.playerOnBall().unum
+    elif status == HFO_Status.CAPTURED_BY_DEFENSE:
+      print 'captured by defense', hfo.playerOnBall().unum 
+    elif status == HFO_Status.OUT_OF_BOUNDS:
+      print 'out of bounds'
+    elif status == HFO_Status.OUT_OF_TIME:
+      print 'out of time'
+    else:
+      print 'Unknown status', status
+      exit()
   # Cleanup when finished
   hfo_env.cleanup()

example/hfo_example_agent.py

@@ -19,21 +19,21 @@ if __name__ == '__main__':
   # Connect to the agent server on port 6000 with the specified
   # feature set. See feature sets in hfo.py/hfo.hpp.
   hfo.connectToAgentServer(port, HFO_Features.HIGH_LEVEL_FEATURE_SET)
-  # Play 5 episodes
-  for episode in xrange(5):
+  # Play 100 episodes
+  for episode in xrange(100):
     status = HFO_Status.IN_GAME
     while status == HFO_Status.IN_GAME:
       # Grab the state features from the environment
       features = hfo.getState()
       # Take an action and get the current game status
       hfo.act(HFO_Actions.DASH, 20.0, 0)
-      hfo.step()
+      status = hfo.step()
     print 'Episode', episode, 'ended with',
     # Check what the outcome of the episode was
     if status == HFO_Status.GOAL:
-      print 'goal'
+      print 'goal', hfo.playerOnBall().unum
     elif status == HFO_Status.CAPTURED_BY_DEFENSE:
-      print 'captured by defense'
+      print 'captured by defense', hfo.playerOnBall().unum 
     elif status == HFO_Status.OUT_OF_BOUNDS:
       print 'out of bounds'
     elif status == HFO_Status.OUT_OF_TIME:

example/high_level_random_agent.cpp

@@ -36,6 +36,26 @@ int main(int argc, char** argv) {
       // Advance the environment and get the game status
       status = hfo.step();
     }
+
+    // Check what the outcome of the episode was
+    cout << "Episode " << episode << " ended with status: ";
+    switch (status) {
+      case GOAL:
+        cout << "goal " << hfo.playerOnBall().unum << endl;
+        break;
+      case CAPTURED_BY_DEFENSE:
+        cout << "captured by defense " << hfo.playerOnBall().unum << endl;
+        break;
+      case OUT_OF_BOUNDS:
+        cout << "out of bounds" << endl;
+        break;
+      case OUT_OF_TIME:
+        cout << "out of time" << endl;
+        break;
+      default:
+        cout << "Unknown status " << status << endl;
+        exit(1);
+    }
   }
   hfo.act(QUIT);
 };

example/mid_level_kick_agent.cpp

@@ -46,6 +46,25 @@ int main(int argc, char** argv) {
       // Advance the environment and get the game status
       status = hfo.step();
     }
+    // Check what the outcome of the episode was
+    cout << "Episode " << episode << " ended with status: ";
+    switch (status) {
+      case GOAL:
+        cout << "goal " << hfo.playerOnBall().unum << endl;
+        break;
+      case CAPTURED_BY_DEFENSE:
+        cout << "captured by defense " <<  hfo.playerOnBall().unum << endl;
+        break;
+      case OUT_OF_BOUNDS:
+        cout << "out of bounds" << endl;
+        break;
+      case OUT_OF_TIME:
+        cout << "out of time" << endl;
+        break;
+      default:
+        cout << "Unknown status " << status << endl;
+        exit(1);
+    }
   }
   hfo.act(QUIT);
 };

hfo/hfo.py

-import socket, struct, thread, time
+import socket, struct, thread, time, collections
 
 class HFO_Features:
   ''' An enum of the possible HFO feature sets. For descriptions see
@@ -30,10 +30,17 @@ class HFO_Actions:
   DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
     MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT = range(15)
 
+
+HFO_Player = collections.namedtuple("HFO_Player", "side unum")    
+
 class HFO_Status:
   ''' Current status of the HFO game. '''
   IN_GAME, GOAL, CAPTURED_BY_DEFENSE, OUT_OF_BOUNDS, OUT_OF_TIME = range(5)
 
+class HFO_SideID:
+  ''' Team side for a player or object''' 
+  RIGHT, NEUTRAL, LEFT = range(-1, 2)
+  
 
 class HFOEnvironment(object):
   ''' The HFOEnvironment is designed to be the main point of contact
@@ -47,6 +54,7 @@ class HFOEnvironment(object):
     self.requested_action = None # Action to execute and parameters
     self.say_msg = ''          # Outgoing message to say
     self.hear_msg = ''         # Incoming heard message
+    self.player_on_ball = None  # Current player holding the ball
 
   def NumParams(self, action_type):
     ''' Returns the number of required parameters for each action type. '''
@@ -117,8 +125,9 @@ class HFOEnvironment(object):
     # Send what we recieved
     self.socket.send(struct.pack("i", self.numFeatures))
     # Get the current game status
-    data = self.socket.recv(struct.calcsize("i"))
-    status = struct.unpack("i", data)[0]
+    data = self.socket.recv(struct.calcsize("iii"))
+    status, side, unum = struct.unpack("iii", data)
+    self.player_on_ball = HFO_Player(side,unum)
     assert status == HFO_Status.IN_GAME, "Status check failed"
     print '[Agent Client] Handshake complete'
 
@@ -144,6 +153,10 @@ class HFOEnvironment(object):
     ''' Receive incoming communications from other players. '''
     return self.hear_msg
 
+  def playerOnBall(self):
+    ''' Get the current player holding the ball'''
+    return self.player_on_ball
+
   def step(self):
     ''' Indicates the agent is done and the environment should
         progress. Returns the game status after the step'''
@@ -157,8 +170,9 @@ class HFOEnvironment(object):
     self.say_msg = ''
     
     # Get the current game status
-    data = self.socket.recv(struct.calcsize("i"))
-    status = struct.unpack("i", data)[0]
+    data = self.socket.recv(struct.calcsize("iii"))
+    status, side, unum = struct.unpack("iii", data)
+    self.player_on_ball = HFO_Player(side,unum)
       
     # Get the next state features
     state_data = self.socket.recv(struct.calcsize('f')*self.numFeatures)

src/HFO.cpp

@@ -248,17 +248,19 @@ void HFOEnvironment::handshakeAgentServer(feature_set_t feature_set) {
     exit(1);
   }
   // Recieve the game status
-  status_t status;
-  if (recv(sockfd, &status, sizeof(status_t), 0) < 0) {
-    perror("[Agent Client] ERROR recv from socket");
+  int game_status[3];
+  if (recv(sockfd, &(game_status[0]), 3 * sizeof(int), 0) < 0) {
+    perror("[Agent Client] ERROR receiving game status from socket");
     close(sockfd);
     exit(1);
   }
-  if (status != IN_GAME) {
+  if (game_status[0] != IN_GAME) {
     std::cout << "[Agent Client] Handshake failed: status check." << std::endl;
     close(sockfd);
     exit(1);
   }
+  player_on_ball.side = (SideID)game_status[1];
+  player_on_ball.unum = game_status[2];
   std::cout << "[Agent Client] Handshake complete" << std::endl;
 }
 
@@ -289,6 +291,10 @@ std::string HFOEnvironment::hear() {
   return hear_msg;
 }
 
+Player HFOEnvironment::playerOnBall(){
+  return player_on_ball;
+}
+
 status_t HFOEnvironment::step() {
   status_t game_status;
 
@@ -328,14 +334,19 @@ status_t HFOEnvironment::step() {
   say_msg.clear();
 
   // Get the game status
-  if (recv(sockfd, &game_status, sizeof(status_t), 0) < 0) {
-    perror("[Agent Client] ERROR recieving from socket");
+  int full_status[3];
+  if (recv(sockfd, &(full_status[0]), 3 * sizeof(int), 0) < 0) {
+    perror("[Agent Client] ERROR receiving game status from socket");
     close(sockfd);
     exit(1);
   }
+  game_status = (status_t)full_status[0];
+  player_on_ball.side = (SideID)full_status[1];
+  player_on_ball.unum = full_status[2];
+
   // Get the next game state
   if (recv(sockfd, &(feature_vec.front()), numFeatures * sizeof(float), 0) < 0) {
-    perror("[Agent Client] ERROR recieving state features from socket");
+    perror("[Agent Client] ERROR receiving state features from socket");
     close(sockfd);
     exit(1);
   }
@@ -345,7 +356,7 @@ status_t HFOEnvironment::step() {
   // Message length
   uint32_t msgLength;
   if (recv(sockfd, &msgLength, sizeof(uint32_t), 0) < 0){
-    perror("[Agent Client] ERROR recieving hear message length from socket");
+    perror("[Agent Client] ERROR receiving hear message length from socket");
     close(sockfd);
     exit(1);
   }
@@ -354,7 +365,7 @@ status_t HFOEnvironment::step() {
     std::vector<char> hearMsgBuffer;
     hearMsgBuffer.resize(msgLength);
     if (recv(sockfd, &hearMsgBuffer[0], msgLength, 0) < 0){
-      perror("[Agent Client] ERROR recieving hear message from socket");
+      perror("[Agent Client] ERROR receiving hear message from socket");
       close(sockfd);
       exit(1);
     }  

src/HFO.hpp

@@ -52,6 +52,12 @@ enum status_t
   OUT_OF_TIME          // Trial has ended due to time limit
 };
 
+enum SideID {
+  RIGHT = -1,
+  NEUTRAL = 0,
+  LEFT = 1
+};
+
 // Configuration of the HFO domain including the team names and player
 // numbers for each team. This struct is populated by ParseConfig().
 struct Config {
@@ -63,6 +69,11 @@ struct Config {
   std::vector<int> defense_nums; // Defensive player numbers
 };
 
+struct Player {
+  SideID side;    
+  int unum;
+};
+
 class HFOEnvironment {
  public:
   HFOEnvironment();
@@ -92,6 +103,9 @@ class HFOEnvironment {
   virtual void say(const std::string& message);
   virtual std::string hear();
 
+  // Get the current player holding the ball 
+  virtual Player playerOnBall();
+
   // Indicates the agent is done and the environment should
   // progress. Returns the game status after the step
   virtual status_t step();
@@ -103,6 +117,7 @@ class HFOEnvironment {
   action_t requested_action; // Action requested
   std::vector<float> action_params; // Action parameters
   std::string say_msg, hear_msg; // Messages to hear/say
+  Player player_on_ball;
 
   // Handshake with the agent server to ensure data is being correctly
   // passed. Also sets the number of features to expect.

src/agent.cpp

@@ -364,28 +364,52 @@ FeatureExtractor* Agent::getFeatureExtractor(feature_set_t feature_set_indx,
   }
 }
 
-status_t Agent::getGameStatus(const rcsc::AudioSensor& audio_sensor,
+std::vector<int> Agent::getGameStatus(const rcsc::AudioSensor& audio_sensor,
                                   long& lastTrainerMessageTime) {
+  std::vector<int> status;
   status_t game_status = IN_GAME;
+  int playerIndex = -1;   // Keeps track of which defender stopped the shot
+  int playerTeam = hfo::LEFT;     
   if (audio_sensor.trainerMessageTime().cycle() > lastTrainerMessageTime) {
     const std::string& message = audio_sensor.trainerMessage();
     bool recognized_message = true;
-    if (message.compare("GOAL") == 0) {
+    if (message.find("GOAL") != std::string::npos){
+      playerIndex = atoi((message.substr(message.find("-")+1)).c_str());
+      playerTeam = hfo::LEFT;  
       game_status = GOAL;
-    } else if (message.compare("CAPTURED_BY_DEFENSE") == 0) {
+    } else if (message.find("CAPTURED_BY_DEFENSE") != std::string::npos) { 
+      playerIndex = atoi((message.substr(message.find("-")+1)).c_str());
+      playerTeam = hfo::RIGHT;
       game_status = CAPTURED_BY_DEFENSE;
     } else if (message.compare("OUT_OF_BOUNDS") == 0) {
       game_status = OUT_OF_BOUNDS;
     } else if (message.compare("OUT_OF_TIME") == 0) {
       game_status = OUT_OF_TIME;
-    } else {
+    } else if (message.find("IN_GAME") != std::string::npos){
+      switch (message.at(message.find("-")+1)){
+        case 'L':
+          playerTeam = hfo::LEFT;
+          break;
+        case 'R':
+          playerTeam = hfo::RIGHT;
+          break;
+        case 'U':
+          playerTeam = hfo::NEUTRAL;
+          break;
+      }
+      playerIndex = atoi((message.substr(message.find("-")+2)).c_str());
+    }
+    else {
       recognized_message = false;
     }
     if (recognized_message) {
       lastTrainerMessageTime = audio_sensor.trainerMessageTime().cycle();
     }
   }
-  return game_status;
+  status.push_back(game_status);
+  status.push_back(playerTeam);
+  status.push_back(playerIndex);
+  return status;
 }
 
 /*!
@@ -403,20 +427,20 @@ void Agent::actionImpl() {
   }
 
   // Update and send the game status
-  status_t game_status = getGameStatus(audioSensor(), lastTrainerMessageTime);
-  if (send(newsockfd, &game_status, sizeof(int), 0) < 0) {
-    perror("[Agent Server] ERROR sending from socket");
+  std::vector<int> game_status = getGameStatus(audioSensor(), lastTrainerMessageTime);
+  if (send(newsockfd, &(game_status.front()), game_status.size() * sizeof(int), 0) < 0){
+    perror("[Agent Server] ERROR sending game state from socket");
     close(sockfd);
-    exit(1);
+    exit(1);   
   }
-
+  
   // Update and send the state features
   const std::vector<float>& features =
       feature_extractor->ExtractFeatures(this->world());
 
 #ifdef ELOG
   if (config().record()) {
-    elog.addText(Logger::WORLD, "GameStatus %d", game_status);
+    elog.addText(Logger::WORLD, "GameStatus %d", game_status[0]);
     elog.flush();
     feature_extractor->LogFeatures();
   }

src/agent.h

@@ -42,8 +42,8 @@ public:
   virtual ~Agent();
   virtual FieldEvaluator::ConstPtr getFieldEvaluator() const;
 
-  // Get the current game status
-  static hfo::status_t getGameStatus(const rcsc::AudioSensor& audio_sensor,
+  // Get the current game status, and the side and uniform number of the player holding the ball
+  static std::vector<int> getGameStatus(const rcsc::AudioSensor& audio_sensor,
                                      long& lastTrainerMessageTime);
 
   // Returns the feature extractor corresponding to the feature_set_t

src/sample_player.cpp

@@ -269,9 +269,9 @@ SamplePlayer::actionImpl()
             hfo::LOW_LEVEL_FEATURE_SET, num_teammates, num_opponents, playing_offense);
       }
     } else {
-      hfo::status_t game_status = Agent::getGameStatus(
+      std::vector<int> game_status = Agent::getGameStatus(
           audioSensor(), lastTrainerMessageTime);
-      elog.addText(Logger::WORLD, "GameStatus %d", game_status);
+      elog.addText(Logger::WORLD, "GameStatus %d", game_status[0]);
       elog.flush();
       feature_extractor->ExtractFeatures(this->world());
       feature_extractor->LogFeatures();