Updated HFO to be more permissive about calls to get state and act.

example/hfo_example_agent.py

@@ -21,7 +21,7 @@ if __name__ == '__main__':
       # Grab the state features from the environment
       features = hfo.getState()
       # Take an action and get the current game status
-      status = hfo.act((HFO_Actions.KICK, 100, 12.3))
+      status = hfo.act((HFO_Actions.DASH, 100, 0))
     print 'Episode', episode, 'ended with',
     # Check what the outcome of the episode was
     if status == HFO_Status.GOAL:

hfo/hfo.py

@@ -25,6 +25,7 @@ class HFOEnvironment(object):
   def __init__(self):
     self.socket = None # Socket connection to server
     self.numFeatures = None # Given by the server in handshake
+    self.features = None # The state features
 
   def connectToAgentServer(self, server_port=6008):
     '''Connect to the server that controls the agent on the specified port. '''
@@ -40,6 +41,13 @@ class HFOEnvironment(object):
         break
     print '[Agent Client] Connected'
     self.handshakeAgentServer()
+    # Get the initial state
+    state_data = self.socket.recv(struct.calcsize('f')*self.numFeatures)
+    if not state_data:
+      print '[Agent Client] ERROR Recieved bad data from Server. Perhaps server closed?'
+      self.cleanup()
+      exit(1)
+    self.features = struct.unpack('f'*self.numFeatures, state_data)
 
   def handshakeAgentServer(self):
     '''Handshake with the agent's server. '''
@@ -63,13 +71,7 @@ class HFOEnvironment(object):
   def getState(self):
     '''Get the current state of the world. Returns a list of floats with
     size numFeatures. '''
-    data = self.socket.recv(struct.calcsize('f')*self.numFeatures)
-    if not data:
-      print '[Agent Client] ERROR Recieved bad data from Server. Perhaps server closed?'
-      self.cleanup()
-      exit(1)
-    features = struct.unpack('f'*self.numFeatures, data)
-    return features
+    return self.features
 
   def act(self, action):
     ''' Send an action and recieve the game status.'''
@@ -77,6 +79,13 @@ class HFOEnvironment(object):
     # Get the current game status
     data = self.socket.recv(struct.calcsize("i"))
     status = struct.unpack("i", data)[0]
+    # Get the next state features
+    state_data = self.socket.recv(struct.calcsize('f')*self.numFeatures)
+    if not state_data:
+      print '[Agent Client] ERROR Recieved bad data from Server. Perhaps server closed?'
+      self.cleanup()
+      exit(1)
+    self.features = struct.unpack('f'*self.numFeatures, state_data)
     return status
 
   def cleanup(self):

src/HFO.cpp

@@ -50,6 +50,11 @@ void HFOEnvironment::connectToAgentServer(int server_port) {
   }
   std::cout << "[Agent Client] Connected" << std::endl;
   handshakeAgentServer();
+  // Get the initial game state
+  feature_vec.resize(numFeatures);
+  if (recv(sockfd, &(feature_vec.front()), numFeatures*sizeof(float), 0) < 0) {
+    error("[Agent Client] ERROR recieving state features from socket");
+  }
 }
 
 void HFOEnvironment::handshakeAgentServer() {
@@ -87,12 +92,6 @@ void HFOEnvironment::handshakeAgentServer() {
 }
 
 const std::vector<float>& HFOEnvironment::getState() {
-  if (feature_vec.size() != numFeatures) {
-    feature_vec.resize(numFeatures);
-  }
-  if (recv(sockfd, &(feature_vec.front()), numFeatures*sizeof(float), 0) < 0) {
-    error("[Agent Client] ERROR recieving state features from socket");
-  }
   return feature_vec;
 }
 
@@ -106,5 +105,9 @@ hfo_status_t HFOEnvironment::act(Action action) {
   if (recv(sockfd, &game_status, sizeof(hfo_status_t), 0) < 0) {
     error("[Agent Client] ERROR recieving from socket");
   }
+  // Get the next game state
+  if (recv(sockfd, &(feature_vec.front()), numFeatures*sizeof(float), 0) < 0) {
+    error("[Agent Client] ERROR recieving state features from socket");
+  }
   return game_status;
 }