Merge pull request #29 from drallensmith/master

Cmake revisions; uniform nums; testing scripts - hopefully working with travis

.travis.yml

@@ -14,12 +14,16 @@ install:
        brew install cartr/qt4/qt 
        ;
     fi
+  - sudo -H pip install nose numpy
 os:
   - linux
   - osx
 compiler:
   - clang
   - gcc
+env:
+  - PYTHONPATH="."
 script:
   - mkdir build && cd build
-  - cmake -DCMAKE_BUILD_TYPE=Release .. && make -j4 && make install
+  - cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo .. && make -j4 && make install
+  - cd .. && pip install --user . && nosetests --exe tests/test_basic.py

CMakeLists.txt

@@ -16,7 +16,7 @@ include_directories(${Boost_INCLUDE_DIRS})
 ExternalProject_Add(rcssserver
   GIT_REPOSITORY "https://github.com/mhauskn/rcssserver.git"
   GIT_TAG "master"
-  CMAKE_ARGS -DCMAKE_BUILD_TYPE=Release
+  CMAKE_ARGS -DCMAKE_BUILD_TYPE=MinSizeRel
   UPDATE_COMMAND ""
   INSTALL_COMMAND "")
 ExternalProject_Get_Property(rcssserver SOURCE_DIR)
@@ -27,7 +27,7 @@ set(RCSSSERVER_BINARY_DIR ${BINARY_DIR}/bin)
 ExternalProject_Add(librcsc
   GIT_REPOSITORY "https://github.com/mhauskn/librcsc.git"
   GIT_TAG "master"
-  CMAKE_ARGS -DCMAKE_BUILD_TYPE=Release
+  CMAKE_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
   UPDATE_COMMAND ""
   INSTALL_COMMAND "")
 ExternalProject_Get_Property(librcsc SOURCE_DIR)
@@ -46,7 +46,7 @@ if(BUILD_SOCCERWINDOW)
     DEPENDS librcsc
     GIT_REPOSITORY "https://github.com/mhauskn/soccerwindow2.git"
     GIT_TAG "master"
-    CMAKE_ARGS -DCMAKE_BUILD_TYPE=Release -DLIBRCSC_INCLUDE_DIR=${LIBRCSC_INCLUDE_DIR} -DLIBRCSC_LINK_DIR=${LIBRCSC_LINK_DIR}
+    CMAKE_ARGS -DCMAKE_BUILD_TYPE=MinSizeRel -DLIBRCSC_INCLUDE_DIR=${LIBRCSC_INCLUDE_DIR} -DLIBRCSC_LINK_DIR=${LIBRCSC_LINK_DIR}
     UPDATE_COMMAND ""
     INSTALL_COMMAND "")
   ExternalProject_Get_Property(soccerwindow2 BINARY_DIR)

README.md

@@ -16,9 +16,10 @@ RoboCup 2D Half Field Offense
  - numpy
 
 ## Install
+Note: There is no need for 'sudo' with 'make install' - the files will be installed below the starting directory.
 ```
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release ..
+cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo ..
 make -j4
 make install
 ```

__init__.py

-from hfo_py.hfo import *
+try:
+  from hfo_py.hfo import *
+except ImportError:
+  from hfo import *
+
 import os
 
 def get_hfo_path():

hfo/hfo.py

@@ -7,7 +7,8 @@ hfo_lib = cdll.LoadLibrary(os.path.join(os.path.dirname(__file__),
                                         'libhfo_c.so'))
 
 ''' Possible feature sets '''
-LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = list(range(2))
+NUM_FEATURE_SETS = 2
+LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = list(range(NUM_FEATURE_SETS))
 
 ''' An enum of the possible HFO actions
   [Low-Level] Dash(power, relative_direction)
@@ -25,8 +26,9 @@ LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = list(range(2))
   [High-Level] Catch(): Catch the ball (Goalie Only)
   NOOP(): Do Nothing
   QUIT(): Quit the game '''
+NUM_HFO_ACTIONS = 19
 DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
-    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL = list(range(19))
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL = list(range(NUM_HFO_ACTIONS))
 
 ''' Possible game status
   [IN_GAME] Game is currently active
@@ -36,7 +38,8 @@ DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
   [OUT_OF_TIME] Trial has ended due to time limit
   [SERVER_DOWN] Server is not alive
 '''
-IN_GAME, GOAL, CAPTURED_BY_DEFENSE, OUT_OF_BOUNDS, OUT_OF_TIME, SERVER_DOWN = list(range(6))
+NUM_GAME_STATUS_STATES = 6
+IN_GAME, GOAL, CAPTURED_BY_DEFENSE, OUT_OF_BOUNDS, OUT_OF_TIME, SERVER_DOWN = list(range(NUM_GAME_STATUS_STATES))
 
 ''' Possible sides '''
 RIGHT, NEUTRAL, LEFT = list(range(-1,2))

src/lowlevel_feature_extractor.cpp

@@ -16,6 +16,7 @@ LowLevelFeatureExtractor::LowLevelFeatureExtractor(int num_teammates,
   assert(numOpponents >= 0);
   numFeatures = num_basic_features +
       features_per_player * (numTeammates + numOpponents);
+  numFeatures += numTeammates + numOpponents; // Uniform numbers
   feature_vec.resize(numFeatures);
 }
 
@@ -184,6 +185,38 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
       addFeature(0);
     }
   }
+
+  // ========================= UNIFORM NUMBERS ========================== //
+  detected_teammates = 0;
+  for (PlayerPtrCont::const_iterator it = teammates.begin();
+       it != teammates.end(); ++it) {
+    PlayerObject* teammate = *it;
+    if (teammate->pos().x > 0 && teammate->unum() > 0 &&
+        detected_teammates < numTeammates) {
+      addFeature(teammate->unum()/100.0);
+      detected_teammates++;
+    }
+  }
+  // Add -2 features for any missing teammates
+  for (int i=detected_teammates; i<numTeammates; ++i) {
+    addFeature(FEAT_MIN);
+  }
+
+  detected_opponents = 0;
+  for (PlayerPtrCont::const_iterator it = opponents.begin();
+       it != opponents.end(); ++it) {
+    PlayerObject* opponent = *it;
+    if (opponent->pos().x > 0 && opponent->unum() > 0 &&
+        detected_opponents < numOpponents) {
+      addFeature(opponent->unum()/100.0);
+      detected_opponents++;
+    }
+  }
+  // Add -2 features for any missing opponents
+  for (int i=detected_opponents; i<numOpponents; ++i) {
+    addFeature(FEAT_MIN);
+  }
+
   assert(featIndx == numFeatures);
   checkFeatures();
   return feature_vec;

src/lowlevel_feature_extractor.h

@@ -17,7 +17,7 @@ public:
 protected:
   // Number of features for non-player objects.
   const static int num_basic_features = 58;
-  // Number of features for each player or opponent in game.
+  // Number of features for each player or opponent in game, not including uniform numbers.
   const static int features_per_player = 8;
 };
 

tests/test_basic.py

+"""Very basic tests, only of functions available sans server"""
+#from __future__ import print_function
+
+import hfo
+
+def test_basic():
+    hfo_env = hfo.HFOEnvironment()
+
+    for action in range(hfo.NUM_HFO_ACTIONS):
+        assert len(hfo_env.actionToString(action))
+
+    for state in range(hfo.NUM_GAME_STATUS_STATES):
+        assert len(hfo_env.statusToString(state))
+
+if __name__ == '__main__':
+    test_basic()

tests/test_with_server.py

+"""A few tests using a server"""
+from __future__ import print_function
+
+import os
+import subprocess
+import sys
+import time
+
+import hfo
+
+hfo_env = hfo.HFOEnvironment()
+
+def try_step(): # if a game ends within ~20 frames, something is wrong...
+    status = hfo_env.step()
+    
+    assert (status ==
+            hfo.IN_GAME), ("Status is {!s} ({!r}), not IN_GAME".
+                           format(hfo_env.statusToString(status),status))
+    
+    return hfo_env.getState()
+
+def test_with_server():
+    test_dir   = os.path.dirname(os.path.abspath(os.path.realpath(__file__)))
+    binary_dir = os.path.normpath(test_dir + "/../bin")
+    conf_dir = os.path.join(binary_dir, 'teams/base/config/formations-dt')
+    bin_HFO = os.path.join(binary_dir, "HFO")
+    
+    popen_list = [sys.executable, "-x", bin_HFO,
+                  "--offense-agents=1", "--defense-npcs=2",
+                  "--offense-npcs=2", "--trials=1", "--headless"]
+    
+    HFO_process = subprocess.Popen(popen_list)
+    
+    time.sleep(0.2)
+    
+    assert (HFO_process.poll() is
+            None), "Failed to start HFO with command '{}'".format(" ".join(popen_list))
+    
+    time.sleep(3)
+    
+    try:
+        hfo_env.connectToServer(config_dir=conf_dir) # using defaults otherwise
+
+        min_state_size = 58+(9*4)
+        state_size = hfo_env.getStateSize()
+        assert (state_size >=
+                min_state_size), "State size is {!s}, not {!s}+".format(state_size,min_state_size)
+
+        print("State size is {!s}".format(state_size))
+
+        my_unum = hfo_env.getUnum()
+        assert ((my_unum > 0) and (my_unum <= 11)), "Wrong self uniform number ({!r})".format(my_unum)
+
+        print("My unum is {!s}".format(my_unum))
+
+        had_ok_unum = False
+        had_ok_unum_set_my_side = set()
+        had_ok_unum_set_their_side = set();
+
+        hfo_env.act(hfo.NOOP)
+
+        state = try_step()
+
+        for x in range(0,20):
+            if int(state[12]) == 1: # can kick the ball
+                hfo_env.act(hfo.DRIBBLE)
+            elif (x % 2) != 0:
+                hfo_env.act(hfo.MOVE)
+            elif int(state[50]) == 1: # can see the ball
+                hfo_env.act(hfo.GO_TO_BALL)
+            else:
+                hfo_env.act(hfo.MOVE)
+            
+            state = try_step()
+                
+            for n in range((state_size-4), state_size):
+                their_unum = state[n]
+                if ((their_unum > 0) and (their_unum <= 0.11)):
+                    print("{!s}: OK uniform number ({!r}) for {!s}".format(x,their_unum,n))
+                    had_ok_unum = True
+                    if n > (state_size-3):
+                        had_ok_unum_set_their_side.add(their_unum)
+                    else:
+                        had_ok_unum_set_my_side.add(their_unum)
+                elif x > 3:
+                    print("{!s}: Wrong other uniform number ({!r}) for {!s}".format(x,their_unum,n))
+
+            if (len(had_ok_unum_set_my_side) > 1) and (len(had_ok_unum_set_their_side) > 1):
+                break
+                    
+        assert had_ok_unum, "Never saw OK other uniform number"
+
+        try:
+            hfo_env.act(hfo.MOVE_TO)
+        except AssertionError:
+            pass
+        else:
+            raise AssertionError("Should have got AssertionError")
+
+        HFO_process.terminate()
+        hfo_env.act(hfo.QUIT)
+        time.sleep(1.2)
+
+        status = hfo_env.step()
+
+        assert (status ==
+                hfo.SERVER_DOWN), ("Status is {!s} ({!r}), not SERVER_DOWN".
+                                   format(hfo_env.statusToString(status), status))
+
+    finally:
+        if HFO_process.poll() is None:
+            HFO_process.terminate()
+        os.system("killall -9 rcssserver")
+
+if __name__ == '__main__':
+    test_with_server()