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

bin/HFO

@@ -53,7 +53,11 @@ def launch(cmd, name = 'Unknown', necessary = True, suppressOutput = True):
 def main(args):
   """Sets up the teams, launches the server and monitor, starts the trainer.
   """
-  if args.logging and not os.path.exists(args.logDir):
+  if args.logging:
+    args.hfo_logging = True
+    if not os.path.exists(args.logDir):
+      os.makedirs(args.logDir)
+  elif args.hfo_logging and not os.path.exists(args.logDir):
     os.makedirs(args.logDir)
   num_agents   = args.offenseAgents + args.defenseAgents
   binary_dir   = os.path.dirname(os.path.realpath(__file__))
@@ -77,7 +81,7 @@ def main(args):
                   'server::say_msg_size=%i ' \
                   'server::record_messages=%i' \
                   %(server_port, coach_port, olcoach_port,
-                    args.logging, args.logging, args.logging,
+                    args.logging, args.logging, args.hfo_logging,
                     args.logDir, args.logDir, args.logDir,
                     args.sync, args.fullstate, args.fullstate,
                     args.maxFramesPerTrial, args.numTrials, args.numFrames,
@@ -166,6 +170,8 @@ def parseArgs():
                  'incrementally allocated the following ports.')
   p.add_argument('--no-logging', dest='logging', action='store_false',
                  default=True, help='Disable rcssserver logging.')
+  p.add_argument('--hfo-logging', dest='hfo_logging', action='store_true', default=False,
+                 help="Do .hfo logging even if no other logging")
   p.add_argument('--log-dir', dest='logDir', default='log/',
                  help='Directory to store logs. Default: log/')
   p.add_argument('--record', dest='record', action='store_true',

example/base_2v2.sh

+#!/bin/bash
+
+./bin/HFO --offense-npcs=2 --defense-npcs=2 --trials 20 --headless &
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait

example/base_long_2v2.sh

+#!/bin/bash
+
+# Be sure to change/remove the seed for different experiments!
+
+./bin/HFO --offense-npcs=2 --defense-npcs=2 --trials 5000 --headless  --seed=1500348586 --no-logging --hfo-logging &
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait

example/defense_2v3.sh

+#!/bin/bash
+
+# HAS TO BE RUN FROM EXAMPLE DIR DUE TO hand_coded_defense_agent CONFIG!
+
+../bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=2 --trials 20 --headless --port=7000 &
+# The below sleep period is needed to avoid the agent connecting in before the
+# Trainer.py script gets the base/Helios goalie connected in; if that happens,
+# the agent gets assigned unum 1 and there is a mixup in which agent is
+# supposed to be the goalie (some portions of the various programs go by unum,
+# others go by a goalie flag).
+sleep 15
+./hand_coded_defense_agent &> agent1.txt &
+sleep 5
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait
\ No newline at end of file

example/defense_long_2v2.sh

@@ -2,7 +2,9 @@
 
 # HAS TO BE RUN FROM EXAMPLE DIR DUE TO hand_coded_defense_agent CONFIG!
 
-../bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=1 --trials 5000 --headless --port=7000 --seed 1500310928 --no-logging &
+# Change to a new seed for different experiments!
+
+../bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=1 --trials 5000 --headless --port=7000 --seed 1500348586 --no-logging &
 sleep 15
 ./hand_coded_defense_agent &> agent1.txt &
 sleep 5

example/defense_python_long_2v2.sh

 #!/bin/bash
 
-./bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=1 --trials 5000 --headless --seed 1500310928 --no-logging &
+# Change to a different seed for different experiments!
+
+./bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=1 --trials 5000 --headless --seed 1500348586 --no-logging &
 sleep 15
 ./example/hand_coded_defense_agent.py &> agent1.txt &
 sleep 5

example/hand_coded_defense_agent.cpp

@@ -66,7 +66,7 @@ bool is_in_open_area(double pos_x, double pos_y) {
         }
 }
 
-action_with_params get_defense_action(const std::vector<float>& state_vec, double no_of_opponents, double numTMates) {
+action_with_params get_defense_action(const std::vector<float>& state_vec, double no_of_opponents, int numTMates) {
         int size_of_vec = 10 + 6*numTMates + 3*no_of_opponents;
         if (size_of_vec != state_vec.size()) {
                 std :: cout <<"Invalid Feature Vector / Check the number of teammates/opponents provided";
@@ -221,7 +221,7 @@ int main(int argc, char** argv) {
     // Get the vector of state features for the current state
       const vector<float>& feature_vec = hfo.getState();
       if (random == 0) {
-              action_with_params a = get_defense_action(feature_vec, 2,1);
+              action_with_params a = get_defense_action(feature_vec, 2, hfo.getNumTeammates());
          // std::cout << a.action << a.param;
          if (a.action == hfo :: MARK_PLAYER || a.action == hfo::TACKLE) {
                   hfo.act(a.action, a.param);