Merge pull request #17 from sanmit/master

Added Communication Interface

bin/HFO

@@ -49,13 +49,15 @@ def main(args, team1='left', team2='right'):
                   '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::hfo_max_untouched_time=%i' \
+                  'server::hfo_max_untouched_time=%i ' \
+                  'server::say_msg_size=%i' \
                   %(server_port, coach_port, olcoach_port,
                     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, args.maxUntouchedTime)
+                    args.offenseOnBall, args.seed, args.maxUntouchedTime, 
+                    args.messageSize)
                   # server::record_messages=on -- useful for debug
   try:
     # Launch the Server
@@ -138,6 +140,8 @@ def parseArgs():
                  help='Server provides full-state information to agents.')
   p.add_argument('--seed', dest='seed', type=int, default=-1,
                  help='Seed the server\'s RNG. Default: time.')
+  p.add_argument('--message-size', dest='messageSize', type=int, default=1000,
+                 help='Message size limit for communication')
   args = p.parse_args()
   if args.offenseAgents not in xrange(0, 11):
     p.error('argument --offense-agents: invalid choice: '\

bin/Trainer.py

@@ -119,6 +119,7 @@ class Trainer(object):
       agent_cmd += ' -g'
     if self._record:
       agent_cmd += ' --record'
+    # Comment next two lines to show output from agent.cpp and the server
     kwargs = {'stdout':open('/dev/null', 'w'),
               'stderr':open('/dev/null', 'w')}
     p = subprocess.Popen(agent_cmd.split(' '), shell = False, **kwargs)

example/communication_agent.cpp

@@ -2,13 +2,16 @@
 #include <vector>
 #include <HFO.hpp>
 #include <cstdlib>
-
+#include <stdio.h>
+#include <math.h>
+#include <iostream>
 using namespace std;
 using namespace hfo;
 
 // Before running this program, first Start HFO server:
 // $./bin/HFO --offense-agents 1
 
+#define PI 3.14159265
 int main(int argc, char** argv) {
   int port = 6000;
   if (argc > 1) {
@@ -21,19 +24,24 @@ int main(int argc, char** argv) {
   hfo.connectToAgentServer(port, HIGH_LEVEL_FEATURE_SET);
   // Play 5 episodes
   for (int episode=0; ; episode++) {
+    int step = 0;
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
       const vector<float>& feature_vec = hfo.getState();
       // Get any incoming communication
       std::string msg = hfo.hear();
-      // TODO: [Sanmit] Do something with incoming communication
-      // Perform the action
-      hfo.act(DASH, 0, 0);
-      // TODO: [Sanmit] Do something with outgoing communication
+      // Do something with incoming communication
+      cout << "HEARD: " << msg.c_str() << endl;
+      float target_x = sin((step % 360) * PI/180);
+      float target_y = cos((step % 360) * PI/180);
+      hfo.act(DRIBBLE_TO, target_x, target_y);
+
+      // Do something with outgoing communication
       hfo.say("Message");
       // Advance the environment and get the game status
       status = hfo.step();
+      step+=2;
     }
   }
   hfo.act(QUIT);

example/communication_agent.py

+#!/usr/bin/env python
+# encoding: utf-8
+
+import sys
+
+# First Start the server: $> bin/start.py
+
+if __name__ == '__main__':
+  
+  port = 6000
+  if len(sys.argv) > 1:
+    port = int(sys.argv[1])
+
+  try:
+    from hfo import *
+  except:
+    print 'Failed to import hfo. To install hfo, in the HFO directory'\
+      ' run: \"pip install .\"'
+    exit()
+  # Create the HFO Environment
+  hfo_env = hfo.HFOEnvironment()
+  # Connect to the agent server on port 6000 with the specified
+  # feature set. See feature sets in hfo.py/hfo.hpp.
+  hfo_env.connectToAgentServer(port, HFO_Features.HIGH_LEVEL_FEATURE_SET)
+  # Play 5 episodes
+  for episode in xrange(5):
+    status = HFO_Status.IN_GAME
+    
+    while status == HFO_Status.IN_GAME:
+      # Grab the state features from the environment
+      features = hfo_env.getState()
+      # Get any incoming communication
+      msg = hfo_env.hear()
+      # Do something with incoming communication
+      print 'Heard: ', msg
+      # Take an action and get the current game status
+      hfo_env.act(HFO_Actions.DASH, 20.0, 0)
+      # Do something with outgoing communication
+      hfo_env.say('Message')
+      status = hfo_env.step() 
+  
+  print 'Episode', episode, 'ended with',
+  # Check what the outcome of the episode was
+  if status == HFO_Status.GOAL:
+    print 'goal'
+  elif status == HFO_Status.CAPTURED_BY_DEFENSE:
+    print 'captured by defense'
+  elif status == HFO_Status.OUT_OF_BOUNDS:
+    print 'out of bounds'
+  elif status == HFO_Status.OUT_OF_TIME:
+    print 'out of time'
+  else:
+    print 'Unknown status', status
+    exit()
+  # Cleanup when finished
+  hfo_env.cleanup()

example/hfo_example_agent.py

 #!/usr/bin/env python
 # encoding: utf-8
 
-# First Start the server: $> bin/start.py
+import sys
 
+# First Start the server: $> bin/start.py
 if __name__ == '__main__':
+  port = 6000
+  if len(sys.argv) > 1:
+    port = int(sys.argv[1])
   try:
     from hfo import *
   except:
@@ -14,7 +18,7 @@ if __name__ == '__main__':
   hfo = hfo.HFOEnvironment()
   # Connect to the agent server on port 6000 with the specified
   # feature set. See feature sets in hfo.py/hfo.hpp.
-  hfo.connectToAgentServer(6000, HFO_Features.HIGH_LEVEL_FEATURE_SET)
+  hfo.connectToAgentServer(port, HFO_Features.HIGH_LEVEL_FEATURE_SET)
   # Play 5 episodes
   for episode in xrange(5):
     status = HFO_Status.IN_GAME
@@ -22,7 +26,8 @@ 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.DASH, 20.0, 0)
+      hfo.act(HFO_Actions.DASH, 20.0, 0)
+      hfo.step()
     print 'Episode', episode, 'ended with',
     # Check what the outcome of the episode was
     if status == HFO_Status.GOAL:

example/mid_level_move_agent.cpp

@@ -9,7 +9,6 @@ using namespace hfo;
 // This agent demonstrates the use of the MOVE_TO action to visit the
 // corners of the play field. Before running this program, first Start
 // HFO server: $./bin/HFO --offense-agents 1
-
 int main(int argc, char** argv) {
   int port = 6000;
   if (argc > 1) {

hfo/hfo.py

@@ -45,8 +45,8 @@ class HFOEnvironment(object):
     self.numFeatures = None      # Given by the server in handshake
     self.features = None         # The state features
     self.requested_action = None # Action to execute and parameters
-    self.say_msg = None          # Outgoing message to say
-    self.hear_msg = None         # Incoming heard message
+    self.say_msg = ''          # Outgoing message to say
+    self.hear_msg = ''         # Incoming heard message
 
   def NumParams(self, action_type):
     ''' Returns the number of required parameters for each action type. '''
@@ -94,6 +94,12 @@ class HFOEnvironment(object):
       self.cleanup()
       exit(1)
     self.features = struct.unpack('f'*self.numFeatures, state_data)
+    # Get first hear message 
+    hearMsgLengthData = self.socket.recv(struct.calcsize('I'))
+    hearMsgLength = struct.unpack('I', hearMsgLengthData)[0]
+    if hearMsgLength > 0:
+      hearMsgData = self.socket.recv(struct.calcsize('c')*hearMsgLength)
+      self.hear_msg = struct.unpack(str(hearMsgLength)+'s', hearMsgData)[0]
 
   def handshakeAgentServer(self, feature_set):
     '''Handshake with the agent's server. '''
@@ -144,11 +150,16 @@ class HFOEnvironment(object):
     # Send action and parameters
     self.socket.send(struct.pack('i'+'f'*(len(self.requested_action)-1),
                                  *self.requested_action))
-    # TODO: [Sanmit] Send self.say_msg
+    # [Sanmit] Send self.say_msg
+    self.socket.send(struct.pack('I', len(self.say_msg)))
+    if len(self.say_msg) > 0:
+      self.socket.send(struct.pack(str(len(self.say_msg))+'s', self.say_msg))
     self.say_msg = ''
+    
     # 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:
@@ -157,7 +168,13 @@ class HFOEnvironment(object):
       exit(1)
     self.features = struct.unpack('f'*self.numFeatures, state_data)
     self.hear_msg = ''
-    # TODO: [Sanmit] Receive self.hear_msg
+    # [Sanmit] Receive self.hear_msg
+    hearMsgLengthData = self.socket.recv(struct.calcsize('I'))
+    hearMsgLength = struct.unpack('I', hearMsgLengthData)[0]
+    if hearMsgLength > 0:
+      hearMsgData = self.socket.recv(struct.calcsize('c')*hearMsgLength)
+      self.hear_msg = struct.unpack(str(hearMsgLength)+'s', hearMsgData)[0]
+    
     return status
 
   def cleanup(self):

src/HFO.cpp

@@ -188,6 +188,25 @@ void HFOEnvironment::connectToAgentServer(int server_port,
     close(sockfd);
     exit(1);
   }
+  // Get first hear message
+  // Message length
+  uint32_t msgLength;
+  if (recv(sockfd, &msgLength, sizeof(uint32_t), 0) < 0){
+    perror("[Agent Client] ERROR recieving hear message length from socket");
+    close(sockfd);
+    exit(1);
+  }
+  // Message
+  if (msgLength > 0){
+    std::vector<char> hearMsgBuffer;
+    hearMsgBuffer.resize(msgLength);
+    if (recv(sockfd, &hearMsgBuffer[0], msgLength, 0) < 0){
+      perror("[Agent Client] ERROR recieving hear message from socket");
+      close(sockfd);
+      exit(1);
+    }  
+    hear_msg.assign(&(hearMsgBuffer[0]), hearMsgBuffer.size());
+  }
 }
 
 void HFOEnvironment::handshakeAgentServer(feature_set_t feature_set) {
@@ -288,7 +307,24 @@ status_t HFOEnvironment::step() {
       exit(1);
     }
   }
-  // TODO: [Sanmit] Send say_msg
+  // [Sanmit] Send say_msg
+  // Send message length
+  uint32_t sendMsgLength = say_msg.size();
+  if (send(sockfd, &sendMsgLength, sizeof(uint32_t), 0) < 0){
+    perror("[Agent Client] ERROR sending from socket");
+    close(sockfd);
+    exit(1);
+  }
+  // Send message
+  if (sendMsgLength > 0){  
+    if (send(sockfd, say_msg.c_str(), say_msg.size(), 0) < 0){        
+      perror("[Agent Client] ERROR sending from socket");
+      close(sockfd);
+      exit(1);
+    }
+  }  
+
+  // Clear say message buffer 
   say_msg.clear();
 
   // Get the game status
@@ -298,13 +334,33 @@ status_t HFOEnvironment::step() {
     exit(1);
   }
   // Get the next game state
-  if (recv(sockfd, &(feature_vec.front()), numFeatures*sizeof(float), 0) < 0) {
+  if (recv(sockfd, &(feature_vec.front()), numFeatures * sizeof(float), 0) < 0) {
     perror("[Agent Client] ERROR recieving state features from socket");
     close(sockfd);
     exit(1);
   }
+  // [Sanmit] Receive comm_msg
+  // Clear last message
   hear_msg.clear();
-  // TODO: [Sanmit] Receive comm_msg
-
+  // Message length
+  uint32_t msgLength;
+  if (recv(sockfd, &msgLength, sizeof(uint32_t), 0) < 0){
+    perror("[Agent Client] ERROR recieving hear message length from socket");
+    close(sockfd);
+    exit(1);
+  }
+  // Message
+  if (msgLength > 0){
+    std::vector<char> hearMsgBuffer;
+    hearMsgBuffer.resize(msgLength);
+    if (recv(sockfd, &hearMsgBuffer[0], msgLength, 0) < 0){
+      perror("[Agent Client] ERROR recieving hear message from socket");
+      close(sockfd);
+      exit(1);
+    }  
+    hear_msg.assign(&(hearMsgBuffer[0]), hearMsgBuffer.size());
+  }
   return game_status;
 }
+
+

src/agent.cpp

@@ -29,6 +29,7 @@
 #endif
 
 #include "agent.h"
+#include "custom_message.h"
 
 #include "strategy.h"
 #include "field_analyzer.h"
@@ -100,6 +101,7 @@
 #include <rcsc/param/cmd_line_parser.h>
 
 #include <iostream>
+#include <fstream>
 #include <sstream>
 #include <string>
 #include <cstdlib>
@@ -120,6 +122,7 @@ Agent::Agent()
       M_field_evaluator(createFieldEvaluator()),
       M_action_generator(createActionGenerator()),
       lastTrainerMessageTime(-1),
+      lastTeammateMessageTime(-1),
       server_port(6008),
       client_connected(false),
       num_teammates(-1),
@@ -422,9 +425,39 @@ void Agent::actionImpl() {
   if (send(newsockfd, &(features.front()),
            features.size() * sizeof(float), 0) < 0) {
     perror("[Agent Server] ERROR sending state features from socket");
+    close(sockfd);
     exit(1);
   }
-  // TODO: [Sanmit] Send the communication heard by the agent
+
+  // [Sanmit] Send the communication heard by the agent
+  // Hear for teammate messages and send them via socket to the HFO interface. 
+  std::string teammateMessage = "";
+  // Received a new message
+  if (audioSensor().teammateMessageTime().cycle() > lastTeammateMessageTime){
+    // Receive all teammate messages
+    std::list<HearMessage> teammateMessages = audioSensor().teammateMessages();
+    for (std::list<HearMessage>::iterator msgIterator = teammateMessages.begin(); msgIterator != teammateMessages.end(); msgIterator++){
+      if ((*msgIterator).unum_ != world().self().unum()){
+        teammateMessage = (*msgIterator).str_;
+        break;  // For now we just take one. Remove this and concatenate messages if desired -- though technically, agents should only be able to hear one message.  
+      }
+    }
+  }
+  // Send message size 
+  uint32_t hearMsgLength = teammateMessage.size();
+  if (send(newsockfd, &hearMsgLength, sizeof(uint32_t), 0) < 0){
+    perror("[Agent Server] ERROR sending hear message length from socket");
+    close(sockfd);
+    exit(1);
+  }
+  // Send message
+  if (hearMsgLength > 0){  
+    if (send(newsockfd, teammateMessage.c_str(), teammateMessage.size(), 0) < 0){
+      perror("[Agent Server] ERROR sending hear message from socket");
+      close(sockfd);
+      exit(1);
+    }
+  }
 
   // Get the action type
   action_t action;
@@ -443,8 +476,38 @@ void Agent::actionImpl() {
       exit(1);
     }
   }
-  // TODO: [Sanmit] Receive the outgoing communication
-  // TODO: [Sanmit] "Say" in the actual game
+  // [Sanmit] Receive the outgoing communication
+  // Receive message length
+  uint32_t sayMsgLength;
+  if (recv(newsockfd, &sayMsgLength, sizeof(uint32_t), 0) < 0){
+    perror("[Agent Server] ERROR recv size of say message from socket");
+    close(sockfd);
+    exit(1);
+  }
+
+  // Receive message   
+  std::vector<char> sayMsgBuffer; 
+  sayMsgBuffer.resize(sayMsgLength);
+  std::string msgString = "";
+
+  // Check message size
+  if (sayMsgLength > ServerParam::i().playerSayMsgSize()){
+    perror("[Agent Server] ERROR message size too large. Increase size by starting bin/HFO with larger --messageSize argument");
+    close(sockfd);
+    exit(1);
+  }
+  if (sayMsgLength > 0) { 
+    if (recv(newsockfd, &sayMsgBuffer[0], sayMsgLength, 0) < 0){
+      perror("[Agent Server] ERROR recv say message from socket");
+      close(sockfd);
+      exit(1);
+    }
+    msgString.assign(&(sayMsgBuffer[0]),sayMsgBuffer.size());
+
+    // [Sanmit] "Say" in the actual game
+    addSayMessage(new CustomMessage(msgString));
+  }
+
 
   if (action == SHOOT) {
     const ShootGenerator::Container & cont =
@@ -704,7 +767,8 @@ Agent::communicationImpl()
 {
     if ( M_communication )
     {
-        M_communication->execute( this );
+      // [Sanmit]: Turning this off since it adds default communication messages which can conflict with our comm messages.
+      //        M_communication->execute( this );
     }
 }
 

src/agent.h

@@ -79,6 +79,7 @@ protected:
  protected:
   FeatureExtractor* feature_extractor;
   long lastTrainerMessageTime; // Last time the trainer sent a message
+  long lastTeammateMessageTime; // Last time a teammate sent a message
   int server_port; // Port to start the server on
   bool client_connected; // Has the client connected and handshake?
   int sockfd, newsockfd; // Server sockets

src/custom_message.h

+
+#ifndef CUSTOM_MESSAGE_H
+#define CUSTOM_MESSAGE_H
+
+#include <rcsc/player/say_message_builder.h>
+
+
+class CustomMessage : public rcsc::SayMessage {                                                           
+
+  private:
+    std::string msg;                                                                                  
+
+  public:                                                                                             
+
+    CustomMessage(std::string m) : msg(m) {}    
+    char header() const { return 'm'; }     // Should be one (unique) character                       
+    int length() const {return msg.length(); }
+    bool toStr(std::string & to) const {to+=msg; return true;}
+    std::ostream & printDebug( std::ostream & os ) const { os << "[MYMSG]"; return os;}        // TODO [SANMIT]       
+                                                                                                        
+};  
+
+#endif
+
+
+