Merge pull request #14 from mhauskn/launch_refactor

Launch refactor

.gitignore

@@ -4,6 +4,7 @@ __pycache__/
 
 # C extensions
 *.so
+*.a
 
 # Distribution / packaging
 .Python
@@ -31,6 +32,7 @@ var/
 # Installer logs
 pip-log.txt
 pip-delete-this-directory.txt
+install_manifest.txt
 
 # Unit test / coverage reports
 htmlcov/
@@ -64,7 +66,16 @@ bin/agent
 bin/sample_coach
 bin/sample_player
 bin/sample_trainer
+bin/rcssserver
+bin/soccerwindow2
 example/hfo_example_agent
+example/high_level_random_agent
+example/low_level_random_agent
+
+# Dependency directories
+librcsc-prefix/
+rcssserver-prefix/
+soccerwindow2-prefix/
 
 # Logs
 log/

bin/Communicator.py

@@ -62,7 +62,7 @@ class Communicator(object):
           raise TimeoutError
         else:
           retryCount -= 1
-          print 'error receiving message, trying again'
+          print '[Trainer] waiting for message, retry =', retryCount
           time.sleep(0.3)
           #raise ValueError('Error while receiving message')
     (msg,sep,rest) = msg.partition('\0')

bin/HFO

@@ -2,7 +2,6 @@
 # encoding: utf-8
 
 import subprocess, os, time, numpy, sys
-from signal import SIGKILL
 
 # Global list of all/essential running processes
 processes, necProcesses = [], []
@@ -11,41 +10,27 @@ SERVER_BIN = 'rcssserver'
 # Command to run the monitor. Edit as needed.
 MONITOR_BIN = 'soccerwindow2'
 
-def getAgentDirCmd(binary_dir, teamname, server_port=6000, coach_port=6002,
-                   logDir='log', record=False):
-  """ Returns the team name, command, and directory to run a team. """
-  cmd = 'start.sh -t %s -p %i -P %i --log-dir %s'%(teamname, server_port,
-                                                   coach_port, logDir)
-  if record:
-    cmd += ' --record'
-  cmd = os.path.join(binary_dir, cmd)
-  return teamname, cmd
-
-def launch(cmd, necessary=True, supressOutput=True, name='Unknown'):
+def launch(cmd, name = 'Unknown', necessary = True, supressOutput = True):
   """Launch a process.
 
   Appends to list of processes and (optionally) necProcesses if
   necessary flag is True.
 
   Returns: The launched process.
-
   """
   kwargs = {}
   if supressOutput:
-    kwargs = {'stdout':open('/dev/null','w'),'stderr':open('/dev/null','w')}
-  p = subprocess.Popen(cmd.split(' '),shell=False,**kwargs)
+    kwargs = {'stdout': open('/dev/null', 'w'),
+              'stderr': open('/dev/null', 'w')}
+  p = subprocess.Popen(cmd.split(' '), shell = False, **kwargs)
   processes.append(p)
   if necessary:
     necProcesses.append([p,name])
   return p
 
-def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
-  """Sets up the teams, launches the server and monitor, starts the
-  trainer.
+def main(args, team1='left', team2='right'):
+  """Sets up the teams, launches the server and monitor, starts the trainer.
   """
-  if args.seed:
-    print '[start.py] Seeding RNG with seed: ', args.seed
-    rng.seed(args.seed)
   if not os.path.exists(args.logDir):
     os.makedirs(args.logDir)
   num_agents   = args.offenseAgents + args.defenseAgents
@@ -57,21 +42,23 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
   serverOptions = ' server::port=%i server::coach_port=%i ' \
                   'server::olcoach_port=%i server::coach=1 ' \
                   'server::game_logging=%i server::text_logging=%i ' \
+                  'server::hfo_logging=%i server::hfo_log_dir=%s ' \
                   'server::game_log_dir=%s server::text_log_dir=%s '\
-                  'server::synch_mode=%i ' \
-                  'server::fullstate_l=%i server::fullstate_r=%i' \
+                  'server::synch_mode=%i server::hfo=1 ' \
+                  'server::fullstate_l=%i server::fullstate_r=%i ' \
+                  'server::coach_w_referee=1 server::hfo_max_trial_time=%i ' \
+                  'server::hfo_max_trials=%i server::hfo_max_frames=%i ' \
+                  'server::hfo_offense_on_ball=%i server::random_seed=%i' \
                   %(server_port, coach_port, olcoach_port,
-                    args.logging, args.logging,
-                    args.logDir, args.logDir,
-                    args.sync,
-                    args.fullstate, args.fullstate)
-  team1, team1Cmd = getAgentDirCmd(binary_dir, team1, server_port, coach_port,
-                                   args.logDir, args.record)
-  team2, team2Cmd = getAgentDirCmd(binary_dir, team2, server_port, coach_port,
-                                   args.logDir, args.record)
+                    args.logging, args.logging, args.logging,
+                    args.logDir, args.logDir, args.logDir,
+                    args.sync, args.fullstate, args.fullstate,
+                    args.maxFramesPerTrial, args.numTrials, args.numFrames,
+                    args.offenseOnBall, args.seed)
+                  # server::record_messages=on -- useful for debug
   try:
     # Launch the Server
-    server = launch(serverCommand + serverOptions, name='server')
+    server = launch(serverCommand + serverOptions, name='server', supressOutput=True)
     time.sleep(0.2)
     assert server.poll() is None,\
       '[start.py] Failed to launch Server with command: \"%s\"' \
@@ -82,30 +69,25 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
       launch(monitorCommand + monitorOptions, name='monitor')
     # Launch the Trainer
     from Trainer import Trainer
-    trainer = Trainer(args=args, rng=rng, server_port=server_port,
-                      coach_port=coach_port)
+    trainer = Trainer(args=args, server_port=server_port, coach_port=coach_port)
     trainer.initComm()
-    # Start Team1
-    launch(team1Cmd,False)
-    trainer.waitOnTeam(True) # wait to make sure of team order
-    # Start Team2
-    launch(team2Cmd,False)
-    trainer.waitOnTeam(False)
-    # Make sure all players are connected
-    trainer.checkIfAllPlayersConnected()
-    trainer.setTeams()
-    # Run HFO
+    # Add Team1
+    trainer.addTeam(team1)
+    # Add Team2
+    trainer.addTeam(team2)
+    # Run
     trainer.run(necProcesses)
   except KeyboardInterrupt:
     print '[start.py] Exiting for CTRL-C'
   finally:
     print '[start.py] Cleaning up server and other processes'
-    for p in processes:
+    for p in reversed(processes):
       try:
-        p.send_signal(SIGKILL)
+        p.terminate()
+        time.sleep(0.1)
+        p.kill()
       except:
         pass
-      time.sleep(0.1)
 
 def parseArgs():
   import argparse
@@ -138,17 +120,33 @@ def parseArgs():
                  help='Directory to store logs.')
   p.add_argument('--record', dest='record', action='store_true',
                  help='Record logs of states and actions.')
-  p.add_argument('--agent-on-ball', dest='agent_on_ball', action='store_true',
-                 help='Agent starts with the ball.')
+  p.add_argument('--offense-on-ball', dest='offenseOnBall', action='store_true',
+                 help='Offense starts with the ball.')
   p.add_argument('--fullstate', dest='fullstate', action='store_true',
                  help='Server provides full-state information to agents.')
-  p.add_argument('--seed', dest='seed', type=int,
-                 help='Seed the trainer\'s RNG. Default: time.')
+  p.add_argument('--seed', dest='seed', type=int, default=-1,
+                 help='Seed the server\'s RNG. Default: time.')
   args = p.parse_args()
-  assert args.offenseAgents + args.offenseNPCs in xrange(0, 11), \
-    'Invalid number of offensive players: (choose from [0,10])'
-  assert args.defenseAgents + args.defenseNPCs in xrange(0, 12), \
-    'Invalid number of defensive players: (choose from [0,11])'
+  if args.offenseAgents not in xrange(0, 11):
+    p.error('argument --offense-agents: invalid choice: '\
+            + str(args.offenseAgents) + ' (choose from [0-10])')
+  if args.offenseNPCs not in xrange(0, 11):
+    p.error('argument --offense-npcs: invalid choice: '\
+            + str(args.offenseNPCs) + ' (choose from [0-10])')
+  if args.defenseAgents not in xrange(0, 12):
+    p.error('argument --defense-agents: invalid choice: '\
+            + str(args.defenseAgents) + ' (choose from [0-11])')
+  if args.defenseNPCs not in xrange(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):
+    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):
+    p.error('Defense players (defense-agents + defense-npcs): '\
+            'invalid choice: ' + str(args.defenseAgents + args.defenseNPCs) +\
+            ' (choose from [0,11])')
   return args
 
 if __name__ == '__main__':

src/agent.cpp

@@ -86,6 +86,7 @@
 #include <rcsc/player/say_message_builder.h>
 #include <rcsc/player/audio_sensor.h>
 #include <rcsc/player/freeform_parser.h>
+#include <rcsc/player/free_message.h>
 
 #include <rcsc/common/basic_client.h>
 #include <rcsc/common/logger.h>
@@ -108,6 +109,7 @@
 #include <sys/types.h>
 #include <sys/socket.h>
 #include <netinet/in.h>
+#include <poll.h>
 
 using namespace rcsc;
 using namespace hfo;
@@ -119,7 +121,7 @@ Agent::Agent()
       M_action_generator(createActionGenerator()),
       lastTrainerMessageTime(-1),
       server_port(6008),
-      server_running(false),
+      client_connected(false),
       num_teammates(-1),
       num_opponents(-1),
       playing_offense(false)
@@ -230,12 +232,14 @@ bool Agent::initImpl(CmdLineParser & cmd_parser) {
 
     assert(num_teammates >= 0);
     assert(num_opponents >= 0);
+
+    startServer(server_port);
     return true;
 }
 
 void Agent::startServer(int server_port) {
   std::cout << "[Agent Server] Starting Server on Port " << server_port << std::endl;
-  struct sockaddr_in serv_addr, cli_addr;
+  struct sockaddr_in serv_addr;
   sockfd = socket(AF_INET, SOCK_STREAM, 0);
   if (sockfd < 0) {
     perror("[Agent Server] ERROR opening socket");
@@ -250,16 +254,32 @@ void Agent::startServer(int server_port) {
     exit(1);
   }
   listen(sockfd, 5);
-  socklen_t clilen = sizeof(cli_addr);
-  std::cout << "[Agent Server] Waiting for client to connect... " << std::endl;
-  newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
-  if (newsockfd < 0) {
-    perror("[Agent Server] ERROR on accept");
-    close(sockfd);
-    exit(1);
+}
+
+void Agent::listenForConnection() {
+  int rv;
+  struct pollfd ufd;
+  ufd.fd = sockfd;
+  ufd.events = POLLIN;
+  rv = poll(&ufd, 1, 1000);
+  if (rv == -1) {
+    perror("poll"); // error occurred in poll()
+  } else if (rv == 0) {
+    std::cout << "[Agent Server] Waiting for client to connect... " << std::endl;
+  } else {
+    if (ufd.revents & POLLIN) {
+      struct sockaddr_in cli_addr;
+      socklen_t clilen = sizeof(cli_addr);
+      newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
+      if (newsockfd < 0) {
+        perror("[Agent Server] ERROR on accept");
+        close(sockfd);
+        exit(1);
+      }
+      std::cout << "[Agent Server] Connected" << std::endl;
+      clientHandshake();
+    }
   }
-  std::cout << "[Agent Server] Connected" << std::endl;
-  server_running = true;
 }
 
 void Agent::clientHandshake() {
@@ -316,6 +336,9 @@ void Agent::clientHandshake() {
     exit(1);
   }
   std::cout << "[Agent Server] Handshake complete" << std::endl;
+  client_connected = true;
+  rcsc::FreeMessage<5> *free_msg = new FreeMessage<5>("ready");
+  addSayMessage(free_msg);
 }
 
 FeatureExtractor* Agent::getFeatureExtractor(feature_set_t feature_set_indx,
@@ -367,9 +390,13 @@ status_t Agent::getGameStatus(const rcsc::AudioSensor& audio_sensor,
   virtual method in super class
 */
 void Agent::actionImpl() {
-  if (!server_running) {
-    startServer(server_port);
-    clientHandshake();
+  // For now let's not worry about turning the neck or setting the vision.
+  this->setViewAction(new View_Tactical());
+  this->setNeckAction(new Neck_TurnToBallOrScan());
+
+  if (!client_connected) {
+    listenForConnection();
+    return;
   }
 
   // Update and send the game status
@@ -451,10 +478,6 @@ void Agent::actionImpl() {
       close(sockfd);
       exit(1);
   }
-
-  // For now let's not worry about turning the neck or setting the vision.
-  this->setViewAction(new View_Tactical());
-  this->setNeckAction(new Neck_TurnToBallOrScan());
 }
 
 /*-------------------------------------------------------------------*/

src/agent.h

@@ -72,7 +72,7 @@ protected:
 
   // Start the server and listen for a connection.
   void startServer(int server_port=6008);
-
+  void listenForConnection();
   // Transmit information to the client and ensure it can recieve.
   void clientHandshake();
 
@@ -80,7 +80,7 @@ protected:
   FeatureExtractor* feature_extractor;
   long lastTrainerMessageTime; // Last time the trainer sent a message
   int server_port; // Port to start the server on
-  bool server_running; // Is the server running?
+  bool client_connected; // Has the client connected and handshake?
   int sockfd, newsockfd; // Server sockets
   int num_teammates, num_opponents;
   bool playing_offense;