Try at putting action_status into state vector

hfo/hfo.py

@@ -114,8 +114,6 @@ 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
-hfo_lib.getLastActionStatus.argtypes = [c_void_p, c_int]
-hfo_lib.getLastActionStatus.restype = c_int
 
 class HFOEnvironment(object):
   def __init__(self):
@@ -207,16 +205,6 @@ class HFOEnvironment(object):
     """ Returns the number of opponents of the agent """
     return hfo_lib.getNumOpponents(self.obj)
 
-  def getLastActionStatus(self, last_action):
-    """
-    If last_action is the last action with a recorded status,
-    returns ACTION_STATUS_MAYBE for possible success,
-    ACTION_STATUS_BAD for no possibility of success,
-    or ACTION_STATUS_UNKNOWN if unknown. If it is not the
-    last action with a recorded status, returns ACTION_STATUS_UNKNOWN.
-    """
-    return hfo_lib.getLastActionStatus(self.obj, last_action)
-
   def actionStatusToString(self, status):
     """Returns a string representation of an action status."""
     return ACTION_STATUS_STRINGS[status]

src/HFO.cpp

@@ -123,10 +123,6 @@ int HFOEnvironment::getNumOpponents() {
   return agent->getNumOpponents();
 }
 
-action_status_t HFOEnvironment::getLastActionStatus(action_t last_action) {
-  return agent->getLastActionStatus(last_action);
-}
-
 Player HFOEnvironment::playerOnBall() {
   return agent->getPlayerOnBall();
 }

src/HFO.hpp

@@ -55,8 +55,6 @@ class HFOEnvironment {
   // Returns the number of opponents
   virtual int getNumOpponents();
 
-  virtual action_status_t getLastActionStatus(action_t last_action);
-
   // Get the current player holding the ball
   virtual Player playerOnBall();
 

src/agent.h

@@ -65,8 +65,7 @@ protected:
   std::vector<float> params;           // Parameters of current action
   int num_teammates;                   // Number of teammates
   int num_opponents;                   // Number of opponents
-  hfo::action_t last_action_with_status; // Last action with a recorded return status
-  hfo::action_status_t last_action_status;  // Recorded return status of last action
+  bool last_action_status;  // Recorded return status of last action
 
  public:
   inline const std::vector<float>& getState() { return state; }
@@ -76,7 +75,7 @@ protected:
   int getUnum(); // Returns the uniform number of the player
   inline int getNumTeammates() { return num_teammates; }
   inline int getNumOpponents() { return num_opponents; }
-  hfo::action_status_t getLastActionStatus(hfo::action_t last_action); // if last_action is correct, returns status if available
+  inline bool getLastActionStatus() { return last_action_status; }
 
   inline void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; }
   inline std::vector<float>* mutable_params() { return &params; }
@@ -85,23 +84,23 @@ protected:
 
  private:
   bool doPreprocess();
-  hfo::action_status_t doReorient();
-  hfo::action_status_t doSmartKick();
-  hfo::action_status_t doShoot();
+  bool doReorient();
+  bool doSmartKick();
+  bool doShoot();
   bool doPass();
-  hfo::action_status_t doPassTo(int receiver);
-  hfo::action_status_t doDribble();
-  hfo::action_status_t doMove();
+  bool doPassTo(int receiver);
+  bool doDribble();
+  bool doMove();
   bool doForceKick();
   bool doHeardPassReceive();
-  hfo::action_status_t doMarkPlayer(int unum);
+  bool doMarkPlayer(int unum);
   bool doMarkPlayerNearIndex(int near_index);
-  hfo::action_status_t doReduceAngleToGoal();
-  hfo::action_status_t doDefendGoal();
-  hfo::action_status_t doGoToBall();
+  bool doReduceAngleToGoal();
+  bool doDefendGoal();
+  bool doGoToBall();
   bool doNewAction1();
-  void addLastActionStatus(hfo::action_t last_action, hfo::action_status_t action_status);
-  void addLastActionStatusCollision(hfo::action_t last_action, bool may_fix, bool likely_success);
+  inline void setLastActionStatus(bool likely_success) { last_action_status = likely_success; }
+  void setLastActionStatusCollision(bool may_fix, bool likely_success);
 
 
   Communication::Ptr M_communication;

src/bhv_basic_move.cpp

@@ -52,32 +52,23 @@
 
 using namespace rcsc;
 
-bool
-Bhv_BasicMove::execute( PlayerAgent * agent )
-{
-  if (Bhv_BasicMove::action_execute(agent) == hfo::ACTION_STATUS_MAYBE) {
-    return true;
-  } else {
-    return false;
-  }
-}
-
 /*-------------------------------------------------------------------*/
 /*!
 
  */
-hfo::action_status_t
+bool
 Bhv_BasicMove::action_execute( PlayerAgent * agent )
 {
     dlog.addText( Logger::TEAM,
                   __FILE__": Bhv_BasicMove" );
-    hfo::action_status_t success = hfo::ACTION_STATUS_UNKNOWN;
+    bool success = false;
+    bool maybe_success = true;
 
     //-----------------------------------------------
     // tackle
     if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) )
     {
-      return hfo::ACTION_STATUS_MAYBE;
+      return true;
     }
 
     const WorldModel & wm = agent->world();
@@ -96,7 +87,7 @@ Bhv_BasicMove::action_execute( PlayerAgent * agent )
     {
         dlog.addText( Logger::TEAM,
                       __FILE__": intercept" );
-        success = hfo::BooleanToActionStatus(Body_Intercept().execute( agent ));
+        success = Body_Intercept().execute( agent );
         agent->setNeckAction( new Neck_OffensiveInterceptNeck() );
         return success;
     }
@@ -107,7 +98,7 @@ Bhv_BasicMove::action_execute( PlayerAgent * agent )
     const BallObject& ball = wm.ball();
     if (! ball.rposValid()) {
       if (! wm.self().collidesWithPost()) {
-	success = hfo::ACTION_STATUS_BAD;
+	maybe_success = false;
       }
     }
 
@@ -127,10 +118,12 @@ Bhv_BasicMove::action_execute( PlayerAgent * agent )
                            ).execute( agent ) )
     {
       if (! Body_TurnToBall().execute( agent )) {
-	success = hfo::ACTION_STATUS_BAD;
+	success = false;
+      } else {
+	success = maybe_success;
       }
-    } else if (success != hfo::ACTION_STATUS_BAD) {
-      success = hfo::ACTION_STATUS_MAYBE;
+    } else {
+      success = maybe_success;
     }
 
     if ( wm.existKickableOpponent() &&

src/bhv_basic_move.h

@@ -38,7 +38,6 @@ public:
       { }
 
   bool execute( rcsc::PlayerAgent * agent );
-  hfo::action_status_t action_execute( rcsc::PlayerAgent * agent );
 
 private:
     double getDashPower( const rcsc::PlayerAgent * agent );

src/common.hpp

@@ -53,24 +53,6 @@ enum status_t
   SERVER_DOWN          // Server is not alive
 };
 
-// Action status
-enum action_status_t {
-  ACTION_STATUS_UNKNOWN = -1, // cannot tell or invalid action # in status request
-  ACTION_STATUS_BAD = 0, // definitely not OK
-  ACTION_STATUS_MAYBE = 1, // may be OK, may not
-};
-
-/**
- * Translates from boolean false (bad) or true (maybe OK) to action status
- */
-inline action_status_t BooleanToActionStatus(const bool status) {
-  if (status) {
-    return ACTION_STATUS_MAYBE;
-  } else{
-    return ACTION_STATUS_BAD;
-  }
-}
-
 // Configuration of the HFO domain including the team names and player
 // numbers for each team. This struct is populated by ParseConfig().
 struct Config {

src/feature_extractor.h

+// -*-c++-*-
+
 #ifndef FEATURE_EXTRACTOR_H
 #define FEATURE_EXTRACTOR_H
 

src/highlevel_feature_extractor.cpp

@@ -4,6 +4,7 @@
 
 #include "highlevel_feature_extractor.h"
 #include <rcsc/common/server_param.h>
+#include "agent.h"
 
 using namespace rcsc;
 
@@ -16,6 +17,7 @@ HighLevelFeatureExtractor::HighLevelFeatureExtractor(int num_teammates,
   assert(numOpponents >= 0);
   numFeatures = num_basic_features + features_per_teammate * numTeammates
       + features_per_opponent * numOpponents;
+  numFeatures++; // action status
   feature_vec.resize(numFeatures);
 }
 
@@ -178,6 +180,12 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
     addFeature(FEAT_INVALID);
   }
 
+  if (getLastActionStatus()) {
+    addFeature(FEAT_MAX);
+  } else {
+    addFeature(FEAT_MIN);
+  }
+
   assert(featIndx == numFeatures);
   // checkFeatures();
   return feature_vec;

src/highlevel_feature_extractor.h

+// -*-c++-*-
+
 #ifndef HIGHLEVEL_FEATURE_EXTRACTOR_H
 #define HIGHLEVEL_FEATURE_EXTRACTOR_H
 

src/lowlevel_feature_extractor.cpp

@@ -4,6 +4,7 @@
 
 #include "lowlevel_feature_extractor.h"
 #include <rcsc/common/server_param.h>
+#include "agent.h"
 
 using namespace rcsc;
 
@@ -17,6 +18,7 @@ LowLevelFeatureExtractor::LowLevelFeatureExtractor(int num_teammates,
   numFeatures = num_basic_features +
       features_per_player * (numTeammates + numOpponents);
   numFeatures += numTeammates + numOpponents; // Uniform numbers
+  numFeatures++; // action state
   feature_vec.resize(numFeatures);
 }
 
@@ -197,7 +199,7 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
       detected_teammates++;
     }
   }
-  // Add -2 features for any missing teammates
+  // Add -1 features for any missing teammates
   for (int i=detected_teammates; i<numTeammates; ++i) {
     addFeature(FEAT_MIN);
   }
@@ -212,11 +214,17 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
       detected_opponents++;
     }
   }
-  // Add -2 features for any missing opponents
+  // Add -1 features for any missing opponents
   for (int i=detected_opponents; i<numOpponents; ++i) {
     addFeature(FEAT_MIN);
   }
 
+  if (getLastActionStatus()) {
+    addFeature(FEAT_MAX);
+  } else {
+    addFeature(FEAT_MIN);
+  }
+
   assert(featIndx == numFeatures);
   checkFeatures();
   return feature_vec;

src/lowlevel_feature_extractor.h

+// -*-c++-*-
+
 #ifndef LOWLEVEL_FEATURE_EXTRACTOR_H
 #define LOWLEVEL_FEATURE_EXTRACTOR_H