Removed unum from connectToServer function.

bin/Trainer.py

@@ -72,11 +72,10 @@ class Trainer(object):
                               'teams', 'base')
     config_dir = os.path.join(binary_dir, 'config/formations-dt')
     print("Waiting for player-controlled agent %s-%d: config_dir=%s, "\
-          "uniform_number=%d, server_port=%d, server_addr=%s, team_name=%s, "\
-          "play_goalie=%r"
+          "server_port=%d, server_addr=%s, team_name=%s, play_goalie=%r"
           % (self._offenseTeamName if play_offense else self._defenseTeamName,
-             agent_num, config_dir, agent_ext_num, self._serverPort, "localhost",
-             team_name, agent_ext_num==1))
+             agent_num, config_dir, self._serverPort, "localhost", team_name,
+             agent_ext_num==1))
     if wait_until_join:
       self.waitOnPlayer(agent_ext_num, play_offense)
     return None

doc/manual.tex

@@ -106,7 +106,7 @@ to connect the offensive player:\\
 
 \noindent \verb+Waiting for player-controlled agent base_left-0: +\\
 \noindent \verb+  config_dir=HFO/bin/teams/base/config/formations-dt,+\\
-\noindent \verb+  uniform_number=11, server_port=6000, server_addr=localhost,+\\
+\noindent \verb+  server_port=6000, server_addr=localhost,+\\
 \noindent \verb+  team_name=base_left, play_goalie=False+\\
 
 By default, the server starts on port 6000, but may be changed as follows:\\
@@ -179,7 +179,7 @@ necessary to specify a \verb+record_dir+ in the \verb+connectToServer+
 function:\\
 \\
 \noindent \verb+std::string record_dir = "log/";+\\
-\noindent \verb+hfo.connectToServer(features, config_dir, unum, port, server_addr,+\\
+\noindent \verb+hfo.connectToServer(features, config_dir, port, server_addr,+\\
 \noindent \verb+                    team_name, goalie, record_dir);+\\
 
 \section{Randomness}

example/communication_agent.cpp

@@ -14,7 +14,6 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
@@ -22,16 +21,16 @@ bool goalie = false;
 
 #define PI 3.14159265
 int main(int argc, char** argv) {
-  if (argc > 2) {
-    unum = atoi(argv[1]);
-    port = atoi(argv[2]);
+  if (argc > 1) {
+    port = atoi(argv[1]);
   }
   // Create the HFO environment
   HFOEnvironment hfo;
   // Connect to the server and request feature set. See manual for
   // more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
-                           team_name, goalie);
+  hfo.connectToServer(features, config_dir, port, server_addr,
+                      team_name, goalie);
+  int unum = hfo.getUnum();
   for (int episode=0; episode<10; episode++) {
     int agent_on_ball = 7;
     status_t status = IN_GAME;

example/communication_agent.py

@@ -13,7 +13,7 @@ if __name__ == '__main__':
   # Connect to the server with the specified
   # feature set. See feature sets in hfo.py/hfo.hpp.
   hfo.connectToServer(HIGH_LEVEL_FEATURE_SET,
-                      'bin/teams/base/config/formations-dt', 11, 6000,
+                      'bin/teams/base/config/formations-dt', 6000,
                       'localhost', 'base_left', False)
   for episode in xrange(10):
     status = IN_GAME

example/example_high_level_random_agent.py

@@ -13,7 +13,7 @@ def main():
   # Connect to the server with the specified
   # feature set. See feature sets in hfo.py/hfo.hpp.
   hfo.connectToServer(HIGH_LEVEL_FEATURE_SET,
-                      'bin/teams/base/config/formations-dt', 11, 6000,
+                      'bin/teams/base/config/formations-dt', 6000,
                       'localhost', 'base_left', False)
   for episode in xrange(10):
     status = IN_GAME

example/hfo_example_agent.cpp

@@ -12,18 +12,17 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = LOW_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
-bool goalie = false;
+bool goalie = true;
 
 int main() {
   // Create the HFO environment
   HFOEnvironment hfo;
   // Connect to the server and request low-level feature set. See
   // manual for more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
+  hfo.connectToServer(features, config_dir, port, server_addr,
                       team_name, goalie);
   // Play 5 episodes
   for (int episode=0; episode<5; episode++) {

example/hfo_example_agent.py

@@ -12,7 +12,7 @@ if __name__ == '__main__':
   # Connect to the server with the specified
   # feature set. See feature sets in hfo.py/hfo.hpp.
   hfo.connectToServer(LOW_LEVEL_FEATURE_SET,
-                      'bin/teams/base/config/formations-dt', 11, 6000,
+                      'bin/teams/base/config/formations-dt', 6000,
                       'localhost', 'base_left', False)
   for episode in xrange(10):
     status = IN_GAME

example/high_level_random_agent.cpp

@@ -12,7 +12,6 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
@@ -29,7 +28,7 @@ int main(int argc, char** argv) {
   HFOEnvironment hfo;
   // Connect to the server and request high-level feature set. See
   // manual for more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
+  hfo.connectToServer(features, config_dir, port, server_addr,
                            team_name, goalie);
   for (int episode=0; episode<10; episode++) {
     status_t status = IN_GAME;

example/low_level_random_agent.cpp

@@ -12,7 +12,6 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = LOW_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
@@ -52,7 +51,7 @@ int main(int argc, char** argv) {
   HFOEnvironment hfo;
   // Connect to the server and request low-level feature set. See
   // manual for more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
+  hfo.connectToServer(features, config_dir, port, server_addr,
                            team_name, goalie);
   for (int episode=0; episode<10; episode++) {
     status_t status = IN_GAME;

example/mid_level_dribble_agent.cpp

@@ -16,7 +16,6 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
@@ -27,7 +26,7 @@ int main(int argc, char** argv) {
   HFOEnvironment hfo;
   // Connect to the server and request low-level feature set. See
   // manual for more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
+  hfo.connectToServer(features, config_dir, port, server_addr,
                            team_name, goalie);
   for (int episode=0; episode<10; episode++) {
     status_t status = IN_GAME;

example/mid_level_kick_agent.cpp

@@ -14,7 +14,6 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
@@ -25,7 +24,7 @@ int main(int argc, char** argv) {
   HFOEnvironment hfo;
   // Connect to the server and request low-level feature set. See
   // manual for more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
+  hfo.connectToServer(features, config_dir, port, server_addr,
                            team_name, goalie);
   for (int episode=0; episode < 10; episode++) {
     status_t status = IN_GAME;

example/mid_level_move_agent.cpp

@@ -13,7 +13,6 @@ using namespace hfo;
 // Server Connection Options. See printouts from bin/HFO.
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
-int unum = 11;
 int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
@@ -24,7 +23,7 @@ int main(int argc, char** argv) {
   HFOEnvironment hfo;
   // Connect to the server and request feature set. See manual for
   // more information on feature sets.
-  hfo.connectToServer(features, config_dir, unum, port, server_addr,
+  hfo.connectToServer(features, config_dir, port, server_addr,
                            team_name, goalie);
   float target_x = .82;
   float target_y = .9;

example/passing_agents.sh

@@ -2,9 +2,9 @@
 
 ./bin/HFO --offense-agents=2 --no-sync &
 sleep 5
-./example/communication_agent 7 6000 &
+./example/communication_agent 6000 &
 sleep 5
-./example/communication_agent 11 6000 &
+./example/communication_agent 6000 &
 
 # The magic line
 #   $$ holds the PID for this script

hfo/hfo.py

@@ -52,7 +52,7 @@ hfo_lib.HFO_new.restype = c_void_p
 hfo_lib.HFO_del.argtypes = [c_void_p]
 hfo_lib.HFO_del.restype = None
 hfo_lib.connectToServer.argtypes = [c_void_p, c_int, c_char_p, c_int,
-                                    c_int, c_char_p, c_char_p, c_bool, c_char_p]
+                                    c_char_p, c_char_p, c_bool, c_char_p]
 hfo_lib.connectToServer.restype = None
 hfo_lib.getStateSize.argtypes = [c_void_p]
 hfo_lib.getStateSize.restype = c_int
@@ -85,7 +85,6 @@ class HFOEnvironment(object):
   def connectToServer(self,
                       feature_set=LOW_LEVEL_FEATURE_SET,
                       config_dir='bin/teams/base/config/formations-dt',
-                      uniform_number=11,
                       server_port=6000,
                       server_addr='localhost',
                       team_name='base_left',
@@ -97,16 +96,14 @@ class HFOEnvironment(object):
 
       feature_set: High or low level state features
       config_dir: Config directory. Typically HFO/bin/teams/base/config/
-      uniform_number: player's uniform number.
       server_port: port to connect to server on
       server_addr: address of server
       team_name: Name of team to join.
       play_goalie: is this player the goalie
       record_dir: record agent's states/actions/rewards to this directory
     """
-    hfo_lib.connectToServer(self.obj, feature_set, config_dir, uniform_number,
-                            server_port, server_addr, team_name, play_goalie,
-                            record_dir)
+    hfo_lib.connectToServer(self.obj, feature_set, config_dir, server_port,
+                            server_addr, team_name, play_goalie, record_dir)
 
   def getStateSize(self):
     """ Returns the number of state features """

hfo/hfo_c_wrapper.h

@@ -12,13 +12,12 @@ extern "C" {
   void connectToServer(hfo::HFOEnvironment *hfo,
                        hfo::feature_set_t feature_set,
                        char* config_dir,
-                       int uniform_number,
                        int server_port,
                        char* server_addr,
                        char* team_name,
                        bool play_goalie,
                        char* record_dir) {
-    return hfo->connectToServer(feature_set, config_dir, uniform_number,
+    return hfo->connectToServer(feature_set, config_dir,
                                 server_port, server_addr, team_name,
                                 play_goalie, record_dir);
   }

src/HFO.cpp

@@ -31,7 +31,6 @@ HFOEnvironment::~HFOEnvironment() {
 
 void HFOEnvironment::connectToServer(feature_set_t feature_set,
                                      std::string config_dir,
-                                     int uniform_number,
                                      int server_port,
                                      std::string server_addr,
                                      std::string team_name,
@@ -40,7 +39,6 @@ void HFOEnvironment::connectToServer(feature_set_t feature_set,
   agent->setFeatureSet(feature_set);
   rcsc::PlayerConfig& config = agent->mutable_config();
   config.setConfigDir(config_dir);
-  config.setPlayerNumber(uniform_number);
   config.setPort(server_port);
   config.setHost(server_addr);
   config.setTeamName(team_name);
@@ -102,6 +100,10 @@ std::string HFOEnvironment::hear() {
   return agent->getHearMsg();
 }
 
+int HFOEnvironment::getUnum() {
+  return agent->getUnum();
+}
+
 Player HFOEnvironment::playerOnBall() {
   return agent->getPlayerOnBall();
 }

src/HFO.hpp

@@ -21,7 +21,6 @@ class HFOEnvironment {
    *
    * feature_set: High or low level state features
    * config_dir: Config directory. Typically HFO/bin/teams/base/config/
-   * uniform_number: player's uniform number.
    * server_port: port to connect to server on
    * server_addr: address of server
    * team_name: Name of team to join.
@@ -30,7 +29,6 @@ class HFOEnvironment {
    */
   void connectToServer(feature_set_t feature_set=HIGH_LEVEL_FEATURE_SET,
                        std::string config_dir="bin/teams/base/config/formations-dt",
-                       int uniform_number=11,
                        int server_port=6000,
                        std::string server_addr="localhost",
                        std::string team_name="base_left",
@@ -48,6 +46,9 @@ class HFOEnvironment {
   virtual void say(const std::string& message);
   virtual std::string hear();
 
+  // Returns the uniform number of the player
+  virtual int getUnum();
+
   // Get the current player holding the ball
   virtual Player playerOnBall();
 

src/agent.cpp

@@ -154,6 +154,10 @@ Agent::~Agent() {
   }
 }
 
+int Agent::getUnum() {
+  return world().self().unum();
+}
+
 bool Agent::initImpl(CmdLineParser & cmd_parser) {
     bool result = PlayerAgent::initImpl(cmd_parser);
 

src/agent.h

@@ -60,6 +60,7 @@ protected:
   inline hfo::status_t getGameStatus() { return game_status; }
   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 void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; }
   inline std::vector<float>* mutable_params() { return &params; }