Merge branch 'randomization' into add_preprocess_action - bring in improvements, avoid rebase

example/high_level_custom_agent.py

@@ -68,8 +68,6 @@ def main():
                       help="If doing HFO --record")
   parser.add_argument('--rdir', type=str, default='log/',
                       help="Set directory to use if doing --record")
-  parser.add_argument('--numTeammates', type=int, default=0)
-  parser.add_argument('--numOpponents', type=int, default=1)
   args=parser.parse_args()
   if args.seed:
     random.seed(args.seed)
@@ -83,12 +81,14 @@ def main():
     hfo_env.connectToServer(hfo.HIGH_LEVEL_FEATURE_SET,
                             'bin/teams/base/config/formations-dt', args.port,
                             'localhost', 'base_left', False)
+  num_teammates = hfo_env.getNumTeammates()
+  #num_opponents = hfo_env.getNumOpponents()
   if args.seed:
-    if (args.rand_pass and (args.numTeammates > 1)) or (args.epsilon > 0):
+    if (args.rand_pass and (num_teammates > 1)) or (args.epsilon > 0):
       print("Python randomization seed: {0:d}".format(args.seed))
     else:
-      print("Python randomization seed useless without --rand-pass w/teammates or --epsilon >0")
-  if args.rand_pass and (args.numTeammates > 1):
+      print("Python randomization seed useless without --rand-pass w/2+ teammates or --epsilon >0")
+  if args.rand_pass and (num_teammates > 1):
     print("Randomizing order of checking for a pass")
   if args.epsilon > 0:
     print("Using epsilon {0:n}".format(args.epsilon))
@@ -108,7 +108,7 @@ def main():
             hfo_env.act(hfo.DRIBBLE)
           num_eps += 1
         else:
-          get_action(state,hfo_env,args.numTeammates,args.rand_pass)
+          get_action(state,hfo_env,num_teammates,args.rand_pass)
         num_had_ball += 1
       else:
         hfo_env.act(hfo.MOVE)

example/python_agents_3v3.sh

@@ -3,9 +3,9 @@
 ./bin/HFO --offense-agents=2 --defense-npcs=3 --offense-npcs=1 --trials 20 --headless &
 sleep 5
 # -x is needed to skip first line - otherwise whatever default python version is will run
-python2.7 -x ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent1.txt &
+python2.7 -x ./example/high_level_custom_agent.py --port 6000 &> agent1.txt &
 sleep 5
-python3 -x ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent2.txt &
+python3 -x ./example/high_level_custom_agent.py --port 6000 &> agent2.txt &
 
 # The magic line
 #   $$ holds the PID for this script

hfo/hfo.py

@@ -79,6 +79,10 @@ hfo_lib.statusToString.argtypes = [c_int]
 hfo_lib.statusToString.restype = c_char_p
 hfo_lib.getUnum.argtypes = [c_void_p]
 hfo_lib.getUnum.restype = c_int
+hfo_lib.getNumTeammates.argtypes = [c_void_p]
+hfo_lib.getNumTeammates.restype = c_int
+hfo_lib.getNumOpponents.argtypes = [c_void_p]
+hfo_lib.getNumOpponents.restype = c_int
 
 class HFOEnvironment(object):
   def __init__(self):
@@ -154,3 +158,11 @@ class HFOEnvironment(object):
   def getUnum(self):
     """ Return the uniform number of the agent """
     return hfo_lib.getUnum(self.obj)
+
+  def getNumTeammates(self):
+    """ Returns the number of teammates of the agent """
+    return hfo_lib.getNumTeammates(self.obj)
+
+  def getNumOpponents(self):
+    """ Returns the number of opponents of the agent """
+    return hfo_lib.getNumOpponents(self.obj)

hfo/hfo_c_wrapper.h

@@ -48,6 +48,8 @@ extern "C" {
     return StatusToString(status).c_str();
   }
   int getUnum(hfo::HFOEnvironment *hfo) {return hfo->getUnum();}
+  int getNumTeammates(hfo::HFOEnvironment *hfo) {return hfo->getNumTeammates();}
+  int getNumOpponents(hfo::HFOEnvironment *hfo) {return hfo->getNumOpponents();}
 }
 
 #endif

src/HFO.cpp

@@ -115,6 +115,14 @@ int HFOEnvironment::getUnum() {
   return agent->getUnum();
 }
 
+int HFOEnvironment::getNumTeammates() {
+  return agent->getNumTeammates();
+}
+
+int HFOEnvironment::getNumOpponents() {
+  return agent->getNumOpponents();
+}
+
 Player HFOEnvironment::playerOnBall() {
   return agent->getPlayerOnBall();
 }

src/HFO.hpp

@@ -49,6 +49,12 @@ class HFOEnvironment {
   // Returns the uniform number of the player
   virtual int getUnum();
 
+  // Returns the number of teammates
+  virtual int getNumTeammates();
+
+  // Returns the number of opponents
+  virtual int getNumOpponents();
+
   // Get the current player holding the ball
   virtual Player playerOnBall();
 

src/agent.cpp

@@ -212,16 +212,16 @@ bool Agent::initImpl(CmdLineParser & cmd_parser) {
 }
 
 FeatureExtractor* Agent::getFeatureExtractor(feature_set_t feature_set_indx,
-                                             int num_teammates,
-                                             int num_opponents,
+                                             int numTeammates,
+                                             int numOpponents,
                                              bool playing_offense) {
   switch (feature_set_indx) {
     case LOW_LEVEL_FEATURE_SET:
-      return new LowLevelFeatureExtractor(num_teammates, num_opponents,
+      return new LowLevelFeatureExtractor(numTeammates, numOpponents,
                                           playing_offense);
       break;
     case HIGH_LEVEL_FEATURE_SET:
-      return new HighLevelFeatureExtractor(num_teammates, num_opponents,
+      return new HighLevelFeatureExtractor(numTeammates, numOpponents,
                                            playing_offense);
       break;
     default:
@@ -339,10 +339,10 @@ Agent::ProcessTrainerMessages()
       hfo::Config hfo_config;
       if (hfo::ParseConfig(message, hfo_config)) {
         bool playing_offense = world().ourSide() == rcsc::LEFT;
-        int num_teammates = playing_offense ?
-            hfo_config.num_offense - 1 : hfo_config.num_defense - 1;
-        int num_opponents = playing_offense ?
-            hfo_config.num_defense : hfo_config.num_offense;
+        num_teammates = playing_offense ?
+	  hfo_config.num_offense - 1 : hfo_config.num_defense - 1;
+        num_opponents = playing_offense ?
+	  hfo_config.num_defense : hfo_config.num_offense;
         feature_extractor = getFeatureExtractor(
             feature_set, num_teammates, num_opponents, playing_offense);
       }

src/agent.h

@@ -61,6 +61,8 @@ protected:
   std::string say_msg, hear_msg;       // Messages to/from teammates
   hfo::action_t requested_action;      // Currently requested action
   std::vector<float> params;           // Parameters of current action
+  int num_teammates;                   // Number of teammates
+  int num_opponents;                   // Number of opponents
 
  public:
   inline const std::vector<float>& getState() { return state; }
@@ -68,6 +70,8 @@ protected:
   inline const hfo::Player& getPlayerOnBall() { return player_on_ball; }
   inline const std::string& getHearMsg() { return hear_msg; }
   int getUnum(); // Returns the uniform number of the player
+  inline int getNumTeammates() { return num_teammates; }
+  inline int getNumOpponents() { return num_opponents; }
 
   inline void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; }
   inline std::vector<float>* mutable_params() { return &params; }

tests/test_with_server.py

@@ -53,6 +53,12 @@ def test_with_server():
 
         print("My unum is {!s}".format(my_unum))
 
+        num_teammates = hfo_env.getNumTeammates()
+        assert (num_teammates == 2), "Wrong num teammates ({!r})".format(num_teammates)
+
+        num_opponents = hfo_env.getNumOpponents()
+        assert (num_opponents == 2), "Wrong num opponents ({!r})".format(num_opponents)
+
         had_ok_unum = False
         had_ok_unum_set_my_side = set()
         had_ok_unum_set_their_side = set();

tests/test_with_server_fullstate.py

@@ -54,6 +54,12 @@ def test_with_server():
 
         print("My unum is {!s}".format(my_unum))
 
+        num_teammates = hfo_env.getNumTeammates()
+        assert (num_teammates == 2), "Wrong num teammates ({!r})".format(num_teammates)
+
+        num_opponents = hfo_env.getNumOpponents()
+        assert (num_opponents == 2), "Wrong num opponents ({!r})".format(num_opponents)
+
         had_ok_unum = False
         had_ok_unum_set_my_side = set()
         had_ok_unum_set_their_side = set();