Redesigned the port allocation arguments.

bin/Trainer.py

@@ -33,8 +33,8 @@ class Trainer(object):
   """
   def __init__(self, args, rng=numpy.random.RandomState()):
     self._rng = rng # The Random Number Generator
-    self._serverPort = args.basePort # The port the server is listening on
-    self._coachPort = args.basePort + 1 # The coach port to talk with the server
+    self._serverPort = args.port + 1 # The port the server is listening on
+    self._coachPort = args.port + 2 # The coach port to talk with the server
     self._logDir = args.logDir # Directory to store logs
     self._numOffense = args.numOffense # Number offensive players
     self._numDefense = args.numDefense # Number defensive players
@@ -66,7 +66,7 @@ class Trainer(object):
     self._agentTeam = '' # Name of the team the agent is playing for
     self._agentNumInt = -1 # Agent's internal team number
     self._agentNumExt = -1 # Agent's external team number
-    self._agentServerPort = args.basePort + 8 # Port for agent's server
+    self._agentServerPort = args.port # Port for agent's server
     # =============== MISC =============== #
     self._offenseTeam = '' # Name of the offensive team
     self._defenseTeam = '' # Name of the defensive team

bin/start.py

@@ -43,9 +43,9 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
   if not os.path.exists(args.logDir):
     os.makedirs(args.logDir)
   binary_dir   = os.path.dirname(os.path.realpath(__file__))
-  server_port  = args.basePort
-  coach_port   = args.basePort + 1
-  olcoach_port = args.basePort + 2
+  server_port  = args.port + 1
+  coach_port   = args.port + 2
+  olcoach_port = args.port + 3
   serverOptions = ' server::port=%i server::coach_port=%i ' \
                   'server::olcoach_port=%i server::coach=1 ' \
                   'server::game_log_dir=%s server::text_log_dir=%s' \
@@ -108,9 +108,9 @@ def parseArgs(args=None):
                  help='Don\'t use a learning agent.')
   p.add_argument('--no-sync', dest='sync', action='store_false', default=True,
                  help='Run server in non-sync mode')
-  p.add_argument('--base-port', dest='basePort', type=int, default=6000,
-                 help='Base port for communications. rcssserver will use this \
-                 port and all other ports will be allocated incrementally.')
+  p.add_argument('--port', dest='port', type=int, default=6000,
+                 help='Agent server\'s port. rcssserver, coach, and ol_coach'\
+                 ' will be incrementally allocated the following ports.')
   p.add_argument('--log-dir', dest='logDir', default='log/',
                  help='Directory to store logs.')
   return p.parse_args(args=args)

src/agent.cpp

@@ -117,10 +117,11 @@ void error(const char *msg)
 #define ADD_NORM_FEATURE(val, min_val, max_val) \
   assert(featIndx < numFeatures); \
   if (val < min_val || val > max_val) { std::cout << "Violated Feature Bounds: " << val << " Expected min/max: [" << min_val << ", " << max_val << "]" << std::endl;} \
-  assert(val >= min_val); \
-  assert(val <= max_val); \
   feature_vec[featIndx++] = ((val - min_val) / (max_val - min_val)) \
       * (FEAT_MAX - FEAT_MIN) + FEAT_MIN;
+  // assert(val >= min_val); \
+  // assert(val <= max_val); \
+
 
 #define LOG_FEATURE(val) \
   if (val <= min_feat_val) \

src/agent.h

@@ -107,7 +107,7 @@ protected:
   const static float observedSelfSpeedMax   = 0.46;
   const static float observedPlayerSpeedMax = 0.75;
   const static float observedStaminaMax     = 8000.;
-  const static float observedBallSpeedMax   = 3.0;
+  const static float observedBallSpeedMax   = 5.0;
   float maxHFORadius; // Maximum possible distance in HFO playable region
   // Useful measures defined by the Server Parameters
   float pitchLength, pitchWidth, pitchHalfLength, pitchHalfWidth,