Refactor hard paths in startup scripts. Added setup.py to make hfo into an...

Refactor hard paths in startup scripts. Added setup.py to make hfo into an installable python library.

bin/Trainer.py

@@ -33,6 +33,9 @@ class Trainer(object):
   """
   def __init__(self, args, rng=numpy.random.RandomState()):
     self._rng = rng # The Random Number Generator
+    self._serverPort = args.basePort # The port the server is listening on
+    self._coachPort = args.basePort + 1 # The coach port to talk with the server
+    self._logDir = args.logDir # Directory to store logs
     self._numOffense = args.numOffense # Number offensive players
     self._numDefense = args.numDefense # Number defensive players
     self._maxTrials = args.numTrials # Maximum number of trials to play
@@ -63,7 +66,7 @@ class Trainer(object):
     self._agentTeam = '' # Name of the team the agent is playing for
     self._agentNumInt = -1 # Agent's internal team number
     self._agentNumExt = -1 # Agent's external team number
-    self._agentServerPort = args.serverPort # Port for agent's server
+    self._agentServerPort = args.basePort + 8 # Port for agent's server
     # =============== MISC =============== #
     self._offenseTeam = '' # Name of the offensive team
     self._defenseTeam = '' # Name of the defensive team
@@ -97,16 +100,23 @@ class Trainer(object):
       numOpponents = self._numDefense - 1
     self._agentNumExt = self.convertToExtPlayer(self._agentTeam,
                                                 self._agentNumInt)
-    agentCmd = 'start_agent.sh -t %s -u %i --numTeammates %i --numOpponents %i'\
+    binary_dir = os.path.dirname(os.path.realpath(__file__))
+    agentCmd = 'start_agent.sh -t %s -u %i -p %i -P %i --log-dir %s'\
+               ' --numTeammates %i --numOpponents %i'\
                ' --playingOffense %i --serverPort %i'\
-               %(self._agentTeam, self._agentNumExt, numTeammates, numOpponents,
+               %(self._agentTeam, self._agentNumExt, self._serverPort,
+                 self._coachPort, self._logDir, numTeammates, numOpponents,
                  self._agent_play_offense, self._agentServerPort)
+    agentCmd = os.path.join(binary_dir, agentCmd)
     agentCmd = agentCmd.split(' ')
     # Ignore stderr because librcsc continually prints to it
     kwargs = {}#{'stderr':open('/dev/null','w')}
     p = subprocess.Popen(agentCmd, **kwargs)
     p.wait()
-    with open('/tmp/start%i' % p.pid,'r') as f:
+    pid_file = os.path.join(self._logDir, 'start%i'%p.pid)
+    print '[Trainer] Parsing agent\'s pid from file:', pid_file
+    assert os.path.isfile(pid_file)
+    with open(pid_file,'r') as f:
       output = f.read()
     pid = int(re.findall('PID: (\d+)',output)[0])
     return DummyPopen(pid)
@@ -184,9 +194,9 @@ class Trainer(object):
 
   def initComm(self):
     """ Initialize communication to server. """
-    self._comm = ClientCommunicator(port=6001)
+    self._comm = ClientCommunicator(port=self._coachPort)
     self.send('(init (version 8.0))')
-    self.checkMsg('(init ok)',retryCount=5)
+    self.checkMsg('(init ok)', retryCount=5)
     # self.send('(eye on)')
     self.send('(ear on)')
 
@@ -243,7 +253,7 @@ class Trainer(object):
       print >>sys.stderr,'[Trainer] Error with message'
       print >>sys.stderr,'  expected: %s' % expectedMsg
       print >>sys.stderr,'  received: %s' % msg
-      print >>sys.stderr,len(expectedMsg),len(msg)
+      # print >>sys.stderr,len(expectedMsg),len(msg)
       raise ValueError
 
   def extractPoint(self, msg):

bin/start.py

@@ -7,17 +7,16 @@ from signal import SIGKILL
 # Global list of all/essential running processes
 processes, necProcesses = [], []
 # Command to run the rcssserver. Edit as needed.
-SERVER_CMD = 'rcssserver server::port=6000 server::coach_port=6001 \
-server::olcoach_port=6002 server::coach=1 server::game_log_dir=log \
-server::text_log_dir=log'
+SERVER_CMD = 'rcssserver'
 # Command to run the monitor. Edit as needed.
 MONITOR_CMD = 'rcssmonitor'
 
-def getAgentDirCmd(name, first):
+def getAgentDirCmd(binary_dir, teamname, server_port=6000, coach_port=6002, logDir='/tmp'):
   """ Returns the team name, command, and directory to run a team. """
-  cmd = './start.sh -t %s' % name
-  dir = os.path.dirname(os.path.realpath(__file__))
-  return name, cmd, dir
+  cmd = 'start.sh -t %s -p %i -P %i --log-dir %s'%(teamname, server_port,
+                                                   coach_port, logDir)
+  cmd = os.path.join(binary_dir, cmd)
+  return teamname, cmd
 
 def launch(cmd, necessary=True, supressOutput=True, name='Unknown'):
   """Launch a process.
@@ -41,13 +40,21 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
   """Sets up the teams, launches the server and monitor, starts the
   trainer.
   """
-  serverOptions = ''
+  if not os.path.exists(args.logDir):
+    os.makedirs(args.logDir)
+  binary_dir   = os.path.dirname(os.path.realpath(__file__))
+  server_port  = args.basePort
+  coach_port   = args.basePort + 1
+  olcoach_port = args.basePort + 2
+  serverOptions = ' server::port=%i server::coach_port=%i ' \
+                  'server::olcoach_port=%i server::coach=1 ' \
+                  'server::game_log_dir=%s server::text_log_dir=%s' \
+                  %(server_port, coach_port, olcoach_port,
+                    args.logDir, args.logDir)
   if args.sync:
     serverOptions += ' server::synch_mode=on'
-  team1, team1Cmd, team1Dir = getAgentDirCmd(team1, True)
-  team2, team2Cmd, team2Dir = getAgentDirCmd(team2, False)
-  assert os.path.isdir(team1Dir)
-  assert os.path.isdir(team2Dir)
+  team1, team1Cmd = getAgentDirCmd(binary_dir, team1, server_port, coach_port, args.logDir)
+  team2, team2Cmd = getAgentDirCmd(binary_dir, team2, server_port, coach_port, args.logDir)
   try:
     # Launch the Server
     server = launch(SERVER_CMD + serverOptions, name='server')
@@ -55,17 +62,15 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
     assert server.poll() is None,\
       'Failed to launch Server with command: \"%s\"'%(SERVER_CMD)
     if not args.headless:
-      launch(MONITOR_CMD,name='monitor')
+      launch(MONITOR_CMD, name='monitor')
     # Launch the Trainer
     from Trainer import Trainer
     trainer = Trainer(args=args, rng=rng)
     trainer.initComm()
     # Start Team1
-    os.chdir(team1Dir)
     launch(team1Cmd,False)
     trainer.waitOnTeam(True) # wait to make sure of team order
     # Start Team2
-    os.chdir(team2Dir)
     launch(team2Cmd,False)
     trainer.waitOnTeam(False)
     # Make sure all players are connected
@@ -103,8 +108,11 @@ def parseArgs(args=None):
                  help='Don\'t use a learning agent.')
   p.add_argument('--no-sync', dest='sync', action='store_false', default=True,
                  help='Run server in non-sync mode')
-  p.add_argument('--server-port', dest='serverPort', type=int, default=6008,
-                 help='Port to run agent server on.')
+  p.add_argument('--base-port', dest='basePort', type=int, default=6000,
+                 help='Base port for communications. rcssserver will use this \
+                 port and all other ports will be allocated incrementally.')
+  p.add_argument('--log-dir', dest='logDir', default='log/',
+                 help='Directory to store logs.')
   return p.parse_args(args=args)
 
 if __name__ == '__main__':

bin/start_agent.sh

@@ -347,6 +347,7 @@ do
         exit 1
       fi
       debugopt="${debugopt} --log_dir ${2}"
+      LOG_DIR=${2}
       shift 1
       ;;
 
@@ -445,7 +446,7 @@ while [ $i -le ${number} ] ; do
     cmd="${player} ${opt} ${opts} ${offline_number} ${goalie} --reconnect $i"
     if [ X"${use_gdb}" = X'' ]; then
       ${cmd} &
-      echo "PID: $!" > /tmp/start$BASHPID
+      echo "PID: $!" > ${LOG_DIR}/start$BASHPID
     else
       gdb -ex run --args  ${cmd}
     fi

example/hfo_example_agent.cpp

@@ -10,7 +10,7 @@ int main() {
   // Create the HFO environment
   HFOEnvironment hfo;
   // Connect the agent's server
-  hfo.connectToAgentServer();
+  hfo.connectToAgentServer(12008);
   // Play 5 episodes
   for (int episode=0; episode<5; episode++) {
     hfo_status_t status = IN_GAME;

example/hfo_example_agent.py

 #!/usr/bin/env python
 # encoding: utf-8
 
-import imp
-
 # First Start the server: $> bin/start.py
 
 if __name__ == '__main__':
-  # Load the HFO library
   try:
-    hfo_module = imp.load_source('HFO', '../HFO.py')
+    from hfo import *
   except:
-    hfo_module = imp.load_source('HFO', 'HFO.py')
-  # Get the possible actions
-  HFO_Actions = hfo_module.HFO_Actions
-  # Get the possible outcomes
-  HFO_Status = hfo_module.HFO_Status
+    print 'Failed to import hfo. To install hfo, in the HFO directory'\
+      ' run: \"pip install .\"'
+    exit()
   # Create the HFO Environment
-  hfo = hfo_module.HFOEnvironment()
+  hfo = hfo.HFOEnvironment()
   # Connect to the agent server
   hfo.connectToAgentServer()
   # Play 5 episodes

hfo/__init__.py

+from hfo import *

setup.py

+import os
+import setuptools
+
+setuptools.setup(
+    name='hfo',
+    version='0.1.1',
+    packages=setuptools.find_packages(),
+    author='Matthew Hausknecht',
+    author_email='matthew.hausknecht@gmail.com',
+    description='Transparent cluster execution.',
+    license='MIT',
+    keywords=('Robocup '
+              'Half-field-offense '
+              ),
+    classifiers=[
+        'Development Status :: 4 - Beta',
+        'Intended Audience :: Science/Research',
+        'License :: OSI Approved :: MIT License',
+        'Operating System :: OS Independent',
+        ],
+    )