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Seminar-HFO
Commit 09fe6e7e authored by Matthew Hausknecht's avatar Matthew Hausknecht Committed by GitHub
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Merge pull request #25 from DurgeshSamant/master 

Python3-port
parents eb26f8fc 350bdb69
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Showing with 168 additions and 64 deletions
.travis.yml
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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 0 → 100755
View file @ 09fe6e7e
#!/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
View file @ 09fe6e7e
......@@ -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 0 → 100755
View file @ 09fe6e7e
#!/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
View file @ 09fe6e7e
......@@ -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
View file @ 09fe6e7e
......@@ -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',
......
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