Merge pull request #25 from DurgeshSamant/master

Python3-port

.travis.yml

@@ -11,7 +11,7 @@ addons:
       - libboost-filesystem-dev
 install:
   - if [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-       brew install qt
+       brew install cartr/qt4/qt 
        ;
     fi
 os:

bin/Communicator.py

@@ -9,7 +9,7 @@ Modified: 2010-11-07
 '''
 
 import socket, sys, time
-import cPickle as pickle
+import pickle as pickle
 
 defaultPort = 5557
 
@@ -43,7 +43,7 @@ class Communicator(object):
 
   def sendMsg(self,msg):
     #print 'sending',msg
-    self._sock.sendto(msg + '\0',self._addr)
+    self._sock.sendto((msg+'\0').encode('utf-8'),self._addr)
 
   def recvMsg(self,event=None,retryCount=None):
     msg = self._storedMsg
@@ -53,7 +53,7 @@ class Communicator(object):
       newMsg = ''
       try:
         newMsg,self._addr = self._sock.recvfrom(8192)
-        msg += newMsg
+        msg += newMsg.decode('utf-8')
       except socket.error:
         #time.sleep(0.1)
         pass
@@ -62,7 +62,7 @@ class Communicator(object):
           raise TimeoutError
         else:
           retryCount -= 1
-          print '[Trainer] waiting for message, retry =', retryCount
+          print('[Trainer] waiting for message, retry =', retryCount)
           time.sleep(0.3)
           #raise ValueError('Error while receiving message')
     (msg,sep,rest) = msg.partition('\0')
@@ -88,5 +88,5 @@ class ClientCommunicator(Communicator):
       self._sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
       self._sock.settimeout(5)
     except:
-      print >>sys.stderr,'Error creating socket'
+      sys.stderr.write('Error creating socket')
       raise

bin/HFO

@@ -84,9 +84,9 @@ def main(args):
     # Run
     trainer.run(necProcesses, args.offenseTeam, args.defenseTeam)
   except KeyboardInterrupt:
-    print '[start.py] Exiting for CTRL-C'
+    print('[start.py] Exiting for CTRL-C')
   finally:
-    print '[start.py] Cleaning up server and other processes'
+    print('[start.py] Cleaning up server and other processes')
     for p in reversed(processes):
       try:
         p.terminate()
@@ -160,23 +160,23 @@ def parseArgs():
   p.add_argument('--verbose', dest='verbose', action='store_true',
                  default=False, help='Print verbose output.')
   args = p.parse_args()
-  if args.offenseAgents not in xrange(0, 11):
+  if args.offenseAgents not in list(range(0, 11)):
     p.error('argument --offense-agents: invalid choice: '\
             + str(args.offenseAgents) + ' (choose from [0-10])')
-  if args.offenseNPCs not in xrange(0, 11):
+  if args.offenseNPCs not in list(range(0, 11)):
     p.error('argument --offense-npcs: invalid choice: '\
             + str(args.offenseNPCs) + ' (choose from [0-10])')
-  if args.defenseAgents not in xrange(0, 12):
+  if args.defenseAgents not in list(range(0, 12)):
     p.error('argument --defense-agents: invalid choice: '\
             + str(args.defenseAgents) + ' (choose from [0-11])')
-  if args.defenseNPCs not in xrange(0, 12):
+  if args.defenseNPCs not in list(range(0, 12)):
     p.error('argument --offense-npcs: invalid choice: '\
             + str(args.defenseNPCs) + ' (choose from [0-11])')
-  if args.offenseAgents + args.offenseNPCs not in xrange(1, 11):
+  if args.offenseAgents + args.offenseNPCs not in list(range(1, 11)):
     p.error('Offense players (offense-agents + offense-npcs): '\
             'invalid choice: ' + str(args.offenseAgents + args.offenseNPCs) +\
             ' (choose from [1,10])')
-  if args.defenseAgents + args.defenseNPCs not in xrange(0, 12):
+  if args.defenseAgents + args.defenseNPCs not in list(range(0, 12)):
     p.error('Defense players (defense-agents + defense-npcs): '\
             'invalid choice: ' + str(args.defenseAgents + args.defenseNPCs) +\
             ' (choose from [0,11])')

bin/Teams.py

@@ -71,7 +71,7 @@ class Agent2d(Team):
     launchOpts = None
     if player_num == 1:
       launchOpts = '-g'
-    print 'Launch npc %s-%d' % (self._name, player_num)
+    print('Launch npc %s-%d' % (self._name, player_num))
     return self.start_npc_proc(launchOpts)
 
 
@@ -99,5 +99,5 @@ class Helios(Team):
     launchOpts = None
     if player_num == 1:
       launchOpts = '-g'
-    print 'Launch npc %s-%d' % (self._name, player_num)
+    print('Launch npc %s-%d' % (self._name, player_num))
     return self.start_npc_proc(launchOpts)

bin/Trainer.py

@@ -72,11 +72,11 @@ class Trainer(object):
     binary_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),
                               'teams', 'base')
     config_dir = os.path.join(binary_dir, 'config/formations-dt')
-    print("Waiting for player-controlled agent %s-%d: config_dir=%s, "\
+    print(("Waiting for player-controlled agent %s-%d: config_dir=%s, "\
           "server_port=%d, server_addr=%s, team_name=%s, play_goalie=%r"
           % (self._offenseTeamName if play_offense else self._defenseTeamName,
              agent_num, config_dir, self._serverPort, "localhost", team_name,
-             agent_ext_num==1))
+             agent_ext_num==1)))
     if wait_until_join:
       self.waitOnPlayer(agent_ext_num, play_offense)
     return None
@@ -85,7 +85,7 @@ class Trainer(object):
     """ Given a team name, returns the team object. """
     teams_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'teams')
     if requested_team_name == 'helios':
-      print 'Creating team Helios'
+      print('Creating team Helios')
       team_name = 'HELIOS_' + ('left' if play_offense else 'right')
       team_dir = os.path.join(teams_dir, 'helios', 'helios-13Eindhoven')
       lib_dir = os.path.join(teams_dir, 'helios', 'local', 'lib')
@@ -93,7 +93,7 @@ class Trainer(object):
                           binaryName='helios_player', host='localhost',
                           port=self._serverPort)
     elif requested_team_name == 'base':
-      print 'Creating team Agent2d (base)'
+      print('Creating team Agent2d (base)')
       team_name = 'base_' + ('left' if play_offense else 'right')
       team_dir = os.path.join(teams_dir, 'base')
       lib_dir = None
@@ -102,7 +102,7 @@ class Trainer(object):
                            record=self._record, host='localhost',
                            port=self._serverPort)
     else:
-      print 'Unknown team requested: ' + requested_team_name
+      print('Unknown team requested: ' + requested_team_name)
       sys.exit(1)
 
   def getTeams(self, offense_team_name, defense_team_name):
@@ -179,8 +179,8 @@ class Trainer(object):
       self._done = True
     if endOfTrial:
       self._numTrials += 1
-      print 'EndOfTrial: %d / %d %d %s'%\
-        (self._numGoals, self._numTrials, self._frame, event)
+      print('EndOfTrial: %d / %d %d %s'%\
+        (self._numGoals, self._numTrials, self._frame, event))
       self._numFrames += self._frame - self._lastTrialStart
       self._lastTrialStart = self._frame
       self.getConnectedPlayers()
@@ -199,16 +199,16 @@ class Trainer(object):
     msg = msg[1:length+1]
     if msg == 'START':
       if self._isPlaying:
-        print 'Already playing, ignoring message'
+        print('Already playing, ignoring message')
       else:
         self.startGame()
     elif msg == 'DONE':
       raise DoneError
     elif msg == 'ready':
-      print 'Agent Connected:', team, player
+      print('Agent Connected:', team, player)
       self._agentReady.add((team, player))
     else:
-      print 'Unhandled message from agent: %s' % msg
+      print('Unhandled message from agent: %s' % msg)
 
   def initMsgHandlers(self):
     """ Create handlers for different messages. """
@@ -235,9 +235,9 @@ class Trainer(object):
     """ Check that the next message is same as expected message. """
     msg = self.recv(retryCount)
     if msg != expectedMsg:
-      print >>sys.stderr,'Error with message'
-      print >>sys.stderr,'  expected: %s' % expectedMsg
-      print >>sys.stderr,'  received: %s' % msg
+      sys.stderr.write('Error with message')
+      sys.stderr.write('  expected: ' + expectedMsg)
+      sys.stderr.write('  received: ' + msg)
       # print >>sys.stderr,len(expectedMsg),len(msg)
       raise ValueError
 
@@ -263,7 +263,7 @@ class Trainer(object):
       self._msgHandlers.append([args,handler])
     else:
       if ('quiet' not in kwargs) or (not kwargs['quiet']):
-        print 'Updating handler for %s' % (' '.join(args))
+        print('Updating handler for %s' % (' '.join(args)))
       self._msgHandlers[i] = [args,handler]
 
   def unregisterMsgHandler(self, *args):
@@ -285,7 +285,7 @@ class Trainer(object):
     """ Handle a message using the registered handlers. """
     i,prefixLength,handler = self._findHandlerInd(msg)
     if i < 0:
-      print 'Unhandled message:',msg[0:2]
+      print('Unhandled message:',msg[0:2])
     else:
       handler(msg[prefixLength:])
 
@@ -319,7 +319,7 @@ class Trainer(object):
     def f(body):
       self._gotLook = True
       del self._connectedPlayers[:]
-      for i in xrange(4, len(body)):
+      for i in range(4, len(body)):
         _,team,num = body[i][0][:3]
         if (team, num) not in self._connectedPlayers:
           self._connectedPlayers.append((team,num))
@@ -342,9 +342,9 @@ class Trainer(object):
   def sendHFOConfig(self):
     """ Broadcast the HFO configuration """
     offense_nums = ' '.join([str(self.convertToExtPlayer(self._offenseTeamName, i))
-                             for i in xrange(1, self._numOffense + 1)])
+                             for i in range(1, self._numOffense + 1)])
     defense_nums = ' '.join([str(self.convertToExtPlayer(self._defenseTeamName, i))
-                             for i in xrange(self._numDefense)])
+                             for i in range(self._numDefense)])
     self.send('(say HFO_SETUP offense_name %s defense_name %s num_offense %d'\
                 ' num_defense %d offense_nums %s defense_nums %s)'
               %(self._offenseTeamName, self._defenseTeamName,
@@ -357,15 +357,15 @@ class Trainer(object):
     self._isPlaying = True
 
   def printStats(self):
-    print 'TotalFrames = %i, AvgFramesPerTrial = %.1f, AvgFramesPerGoal = %.1f'\
+    print('TotalFrames = %i, AvgFramesPerTrial = %.1f, AvgFramesPerGoal = %.1f'\
       %(self._numFrames,
         self._numFrames / float(self._numTrials) if self._numTrials > 0 else float('nan'),
-        self._numGoalFrames / float(self._numGoals) if self._numGoals > 0 else float('nan'))
-    print 'Trials             : %i' % self._numTrials
-    print 'Goals              : %i' % self._numGoals
-    print 'Defense Captured   : %i' % self._numBallsCaptured
-    print 'Balls Out of Bounds: %i' % self._numBallsOOB
-    print 'Out of Time        : %i' % self._numOutOfTime
+        self._numGoalFrames / float(self._numGoals) if self._numGoals > 0 else float('nan')))
+    print('Trials             : %i' % self._numTrials)
+    print('Goals              : %i' % self._numGoals)
+    print('Defense Captured   : %i' % self._numBallsCaptured)
+    print('Balls Out of Bounds: %i' % self._numBallsOOB)
+    print('Out of Time        : %i' % self._numOutOfTime)
 
   def checkLive(self, necProcesses):
     """Returns true if each of the necessary processes is still alive and
@@ -374,7 +374,7 @@ class Trainer(object):
     """
     for p,name in necProcesses:
       if p is not None and p.poll() is not None:
-        print 'Something necessary closed (%s), exiting' % name
+        print('Something necessary closed (%s), exiting' % name)
         return False
     return True
 
@@ -391,7 +391,7 @@ class Trainer(object):
 
       # Launch offense
       agent_num = 0
-      for player_num in xrange(1, 12):
+      for player_num in range(1, 12):
         if agent_num < self._offenseAgents and player_num == sorted_offense_agent_unums[agent_num]:
           port = self._agentServerPort + agent_num
           agent = self.launch_agent(agent_num, sorted_offense_agent_unums[agent_num],
@@ -410,7 +410,7 @@ class Trainer(object):
 
       # Launch defense
       agent_num = 0
-      for player_num in xrange(1, 12):
+      for player_num in range(1, 12):
         if agent_num < self._defenseAgents and player_num == sorted_defense_agent_unums[agent_num]:
           port = self._agentServerPort + agent_num + self._offenseAgents
           agent = self.launch_agent(agent_num, sorted_defense_agent_unums[agent_num],
@@ -427,23 +427,23 @@ class Trainer(object):
           else:
             self.disconnectPlayer(player, player_num, on_offense=False)
 
-      print 'Checking all players connected'
+      print('Checking all players connected')
       while not self.allPlayersConnected():
         self.getConnectedPlayers()
 
       time.sleep(0.1)
       self.sendHFOConfig()
 
-      print 'Starting game'
+      print('Starting game')
       time.sleep(0.1)
       self.startGame()
       while self.allPlayersConnected() and self.checkLive(necProcesses) and not self._done:
         prevFrame = self._frame
         self.listenAndProcess()
     except TimeoutError:
-      print 'Haven\'t heard from the server for too long, Exiting'
+      print('Haven\'t heard from the server for too long, Exiting')
     except (KeyboardInterrupt, DoneError):
-      print 'Finished'
+      print('Finished')
     finally:
       try:
         self._comm.sendMsg('(bye)')

example/communication_agent.py

@@ -24,7 +24,7 @@ def main():
       msg = hfo.hear()
       # Print the incoming communication
       if msg:
-        print('Heard: %s'% msg)
+        print(('Heard: %s'% msg))
       # Take an action
       hfo.act(DASH, 20.0, 0.)
       # Create outgoing communication
@@ -32,7 +32,7 @@ def main():
       # Advance the environment and get the game status
       status = hfo.step()
     # Check the outcome of the episode
-    print('Episode %d ended with %s'%(episode, hfo.statusToString(status)))
+    print(('Episode %d ended with %s'%(episode, hfo.statusToString(status))))
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)

example/hfo_example_agent.py

@@ -25,7 +25,7 @@ def main():
       # Advance the environment and get the game status
       status = hfo.step()
     # Check the outcome of the episode
-    print('Episode %d ended with %s'%(episode, hfo.statusToString(status)))
+    print(('Episode %d ended with %s'%(episode, hfo.statusToString(status))))
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)

example/high_level_custom_agent.py

+#!/usr/bin/env python
+# encoding: utf-8
+
+#MODIFIED#
+
+# First Start the server: $> bin/start.py
+import random, threading, argparse
+import itertools
+try:
+  from hfo import *
+except:
+  print('Failed to import hfo. To install hfo, in the HFO directory'\
+    ' run: \"pip install .\"')
+  exit()
+params = {'SHT_DST':0.136664020547, 'SHT_ANG':-0.747394386098,
+          'PASS_ANG':0.464086704478, 'DRIB_DST':-0.999052871962}
+
+def can_shoot(goal_dist, goal_angle):
+  """Returns True if if player can have a good shot at goal"""
+  if goal_dist < params['SHT_DST'] and goal_angle > params['SHT_ANG']:
+    return True
+  else:
+    return False
+
+def has_better_pos(dist_to_op, goal_angle, pass_angle, curr_goal_angle):
+  """Returns True if teammate is in a better attacking position"""
+  if curr_goal_angle > goal_angle or dist_to_op<params['DRIB_DST']:
+    return False
+  if pass_angle < params['PASS_ANG']:
+    return False
+  return True
+
+def can_dribble(dist_to_op):
+  if dist_to_op > params['DRIB_DST']:
+    return True
+  else:
+    return False
+
+def get_action(state,hfo_env,num_teammates):
+  """Returns the action to be taken by the agent"""
+  
+  goal_dist = float(state[6])
+  goal_op_angle = float(state[8])
+  if can_shoot(goal_dist, goal_op_angle):
+    hfo_env.act(SHOOT)
+    return
+  for i in range(num_teammates):
+    teammate_uniform_number=state[10 + 3*num_teammates + 3*i +2]
+    if has_better_pos(dist_to_op = float(state[10 + num_teammates + i]),
+                      goal_angle = float(state[10 + i]),
+                      pass_angle = float(state[10 + 2*num_teammates + i]),
+                      curr_goal_angle = goal_op_angle):
+      hfo_env.act(PASS, teammate_uniform_number)
+      return
+  if can_dribble(dist_to_op = state[9]):
+    hfo_env.act(DRIBBLE)
+    return
+  # If nothing can be done pass
+  hfo_env.act(PASS)
+    
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--port', type=int, default=6000)
+  parser.add_argument('--numTeammates', type=int, default=0)
+  parser.add_argument('--numOpponents', type=int, default=1)
+  args=parser.parse_args()
+  hfo_env = HFOEnvironment()
+  hfo_env.connectToServer(HIGH_LEVEL_FEATURE_SET,
+                      'bin/teams/base/config/formations-dt', args.port,
+                      'localhost', 'base_left', False)
+  #itertools.count() counts forever
+  for episode in itertools.count():
+    status=IN_GAME
+    count=0
+    while status==IN_GAME:
+      state = hfo_env.getState()
+      #print(state)
+      if int(state[5]) == 1: # state[5] is 1 when player has the ball
+        tmp = get_action(state,hfo_env,args.numTeammates)  
+        #print(tmp)
+        #hfo_env.act(tmp)
+      else:
+        hfo_env.act(MOVE)
+      status=hfo_env.step()
+      #print(status)
+      if status == SERVER_DOWN:
+        hfo_env.act(QUIT)
+        break 
+  
+
+if __name__ == '__main__':
+  main()

example/high_level_random_agent.py

@@ -28,7 +28,7 @@ def main():
       # Advance the environment and get the game status
       status = hfo.step()
     # Check the outcome of the episode
-    print('Episode %d ended with %s'%(episode, hfo.statusToString(status)))
+    print(('Episode %d ended with %s'%(episode, hfo.statusToString(status))))
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)

example/python_agents_3v3.sh

+#!/bin/bash
+
+./bin/HFO --offense-agents=2 --defense-npcs=3 --offense-npcs=1 --trials 20 --headless &
+sleep 5
+/usr/bin/python2.7 ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent1.txt &
+sleep 5
+/usr/bin/python3 ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent2.txt &
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait

hfo/hfo.py

@@ -7,7 +7,7 @@ hfo_lib = cdll.LoadLibrary(os.path.join(os.path.dirname(__file__),
                                         'libhfo_c.so'))
 
 ''' Possible feature sets '''
-LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = range(2)
+LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = list(range(2))
 
 ''' An enum of the possible HFO actions
   [Low-Level] Dash(power, relative_direction)
@@ -26,7 +26,7 @@ LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = range(2)
   NOOP(): Do Nothing
   QUIT(): Quit the game '''
 DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
-    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL = range(19)
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL = list(range(19))
 
 ''' Possible game status
   [IN_GAME] Game is currently active
@@ -36,10 +36,10 @@ DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
   [OUT_OF_TIME] Trial has ended due to time limit
   [SERVER_DOWN] Server is not alive
 '''
-IN_GAME, GOAL, CAPTURED_BY_DEFENSE, OUT_OF_BOUNDS, OUT_OF_TIME, SERVER_DOWN = range(6)
+IN_GAME, GOAL, CAPTURED_BY_DEFENSE, OUT_OF_BOUNDS, OUT_OF_TIME, SERVER_DOWN = list(range(6))
 
 ''' Possible sides '''
-RIGHT, NEUTRAL, LEFT = range(-1,2)
+RIGHT, NEUTRAL, LEFT = list(range(-1,2))
 
 class Player(Structure): pass
 Player._fields_ = [
@@ -104,9 +104,7 @@ class HFOEnvironment(object):
       play_goalie: is this player the goalie
       record_dir: record agent's states/actions/rewards to this directory
     """
-    hfo_lib.connectToServer(self.obj, feature_set, config_dir, server_port,
-                            server_addr, team_name, play_goalie, record_dir)
-
+    hfo_lib.connectToServer(self.obj, feature_set, config_dir.encode('utf-8'), server_port,server_addr.encode('utf-8'), team_name.encode('utf-8'), play_goalie, record_dir.encode('utf-8'))
   def getStateSize(self):
     """ Returns the number of state features """
     return hfo_lib.getStateSize(self.obj)
@@ -130,11 +128,11 @@ class HFOEnvironment(object):
 
   def say(self, message):
     """ Transmit a message """
-    hfo_lib.say(self.obj, message)
+    hfo_lib.say(self.obj, message.encode('utf-8'))
 
   def hear(self):
     """ Returns the message heard from another player """
-    return hfo_lib.hear(self.obj)
+    return hfo_lib.hear(self.obj).decode('utf-8')
 
   def playerOnBall(self):
     """ Returns a player object who last touched the ball """
@@ -146,7 +144,7 @@ class HFOEnvironment(object):
 
   def actionToString(self, action):
     """ Returns a string representation of an action """
-    return hfo_lib.actionToString(action)
+    return hfo_lib.actionToString(action.decode('utf-8'))
 
   def statusToString(self, status):
     """ Returns a string representation of a game status """

setup.py

@@ -3,7 +3,7 @@ import os.path, sys
 
 hfo_c_lib = 'hfo/libhfo_c.so'
 if not os.path.isfile(hfo_c_lib):
-  print('ERROR: Unable to find required library: %s.'%(hfo_c_lib))
+  print(('ERROR: Unable to find required library: %s.'%(hfo_c_lib)))
   sys.exit()
 
 module1 = Extension('hfo.hfo_c_wrapper',