Merge pull request #27 from drallensmith/master

setup.py, README.md clarifications; HFO, python_agents_3v3.sh misc improvements; prevention of endless loop for high_level_custom_agent.py

README.md

@@ -11,6 +11,10 @@ RoboCup 2D Half Field Offense
  - Boost-system, filesystem
  - Qt4 [Required for SoccerWindow2 visualizer]: To not build the visualizer, add cmake flag `-DBUILD_SOCCERWINDOW=False`
 
+## Python Dependencies
+ - Python 2.7 or 3.2+ (tested with 2.7 and 3.5)
+ - numpy
+
 ## Install
 ```
 mkdir build && cd build
@@ -65,7 +69,7 @@ for (int episode=0; episode<5; episode++) {
 ```python
 hfo = hfo.HFOEnvironment()
 hfo.connectServer(...)
-for episode in xrange(5):
+for episode in range(5): # replace with xrange(5) for Python 2.X
   status = IN_GAME
   while status == IN_GAME:
     features = hfo.getState()

bin/HFO

 #!/usr/bin/env python
 # encoding: utf-8
+from __future__ import print_function
 
 import subprocess, os, time, numpy, sys
 
 # Global list of all/essential running processes
 processes, necProcesses = [], []
-# Command to run the rcssserver. Edit as needed.
+
+# Command to run the rcssserver. Edit as needed; the below assumes running in the same directory as HFO
 SERVER_BIN = 'rcssserver'
-# Command to run the monitor. Edit as needed.
+# Command to run the monitor. Edit as needed; ditto to the above re directories.
 MONITOR_BIN = 'soccerwindow2'
 
-def launch(cmd, name = 'Unknown', necessary = True, supressOutput = True):
+def launch(cmd, name = 'Unknown', necessary = True, suppressOutput = True):
   """Launch a process.
 
   Appends to list of processes and (optionally) necProcesses if
@@ -19,10 +21,14 @@ def launch(cmd, name = 'Unknown', necessary = True, supressOutput = True):
   Returns: The launched process.
   """
   kwargs = {}
-  if supressOutput:
+  if suppressOutput:
     kwargs = {'stdout': open('/dev/null', 'w'),
               'stderr': open('/dev/null', 'w')}
-  p = subprocess.Popen(cmd.split(' '), shell = False, **kwargs)
+  try:
+    p = subprocess.Popen(cmd.split(' '), shell = False, **kwargs)
+  except (IOError, OSError):
+    print("ERROR: Unsuccessful launch of process {!r}".format(cmd), file=sys.stderr)
+    raise
   processes.append(p)
   if necessary:
     necProcesses.append([p,name])
@@ -66,7 +72,7 @@ def main(args):
   try:
     # Launch the Server
     server = launch(serverCommand + serverOptions, name='server',
-                    supressOutput=not args.verbose)
+                    suppressOutput=not args.verbose)
     time.sleep(0.2)
     assert server.poll() is None,\
       '[start.py] Failed to launch Server with command: \"%s\"' \

example/communication_agent.py

@@ -36,7 +36,7 @@ def main():
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)
-      break
+      exit()
 
 if __name__ == '__main__':
   main()

example/example_defense_agent.py

@@ -29,7 +29,7 @@ def main():
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)
-      break
+      exit()
 
 if __name__ == '__main__':
-  main()
\ No newline at end of file
+  main()

example/hfo_example_agent.py

@@ -29,7 +29,7 @@ def main():
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)
-      break
+      exit()
 
 if __name__ == '__main__':
   main()

example/high_level_custom_agent.py

@@ -52,11 +52,14 @@ def get_action(state,hfo_env,num_teammates):
                       curr_goal_angle = goal_op_angle):
       hfo_env.act(PASS, teammate_uniform_number)
       return
+  # not sure if below check is needed - doDribble in agent.cpp includes
+  # (via doPreprocess) doForceKick, which may cover this situation depending
+  # on what existKickableOpponent returns.
   if can_dribble(dist_to_op = state[9]):
     hfo_env.act(DRIBBLE)
     return
-  # If nothing can be done pass
-  hfo_env.act(PASS)
+  # If nothing can be done, do not do anything
+  hfo_env.act(NOOP)
     
 
 def main():
@@ -86,7 +89,7 @@ def main():
       #print(status)
       if status == SERVER_DOWN:
         hfo_env.act(QUIT)
-        break 
+        exit()
   
 
 if __name__ == '__main__':

example/high_level_random_agent.py

@@ -32,7 +32,7 @@ def main():
     # Quit if the server goes down
     if status == SERVER_DOWN:
       hfo.act(QUIT)
-      break
+      exit()
 
 if __name__ == '__main__':
   main()

example/python_agents_3v3.sh

@@ -2,9 +2,10 @@
 
 ./bin/HFO --offense-agents=2 --defense-npcs=3 --offense-npcs=1 --trials 20 --headless &
 sleep 5
-/usr/bin/python2.7 ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent1.txt &
+# -x is needed to skip first line - otherwise whatever default python version is will run
+python2.7 -x ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent1.txt &
 sleep 5
-/usr/bin/python3 ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent2.txt &
+python3 -x ./example/high_level_custom_agent.py --numTeammates=2 --numOpponents=3 --port 6000 &> agent2.txt &
 
 # The magic line
 #   $$ holds the PID for this script

hfo/hfo.py

@@ -116,14 +116,12 @@ class HFOEnvironment(object):
     hfo_lib.getState(self.obj, as_ctypes(state_data))
     return state_data
 
-  def act(self, *args):
+  def act(self, action_type, *args):
     """ Performs an action in the environment """
-    assert len(args) > 0, 'Not enough arguments provided to act'
-    action_type = args[0]
     n_params = hfo_lib.numParams(action_type)
-    assert n_params == len(args) - 1, 'Incorrect number of params to act: '\
-      'Required %d, provided %d'%(n_params, len(args)-1)
-    params = np.asarray(args[1:], dtype=np.float32)
+    assert n_params == len(args), 'Incorrect number of params to act: '\
+      'Required %d, provided %d'%(n_params, len(args))
+    params = np.asarray(args, dtype=np.float32)
     hfo_lib.act(self.obj, action_type, params.ctypes.data_as(POINTER(c_float)))
 
   def say(self, message):
@@ -144,11 +142,11 @@ class HFOEnvironment(object):
 
   def actionToString(self, action):
     """ Returns a string representation of an action """
-    return hfo_lib.actionToString(action.decode('utf-8'))
+    return hfo_lib.actionToString(action).decode('utf-8')
 
   def statusToString(self, status):
     """ Returns a string representation of a game status """
-    return hfo_lib.statusToString(status)
+    return hfo_lib.statusToString(status).decode('utf-8')
 
   def getUnum(self):
     """ Return the uniform number of the agent """

setup.py

@@ -26,8 +26,16 @@ setup(name = 'hfo',
         'Development Status :: 4 - Beta',
         'Intended Audience :: Science/Research',
         'License :: OSI Approved :: MIT License',
-        'Operating System :: OS Independent',
+        'Operating System :: OS Independent', # except for shell scripts
+        'Programming Language :: C++',
+        'Programming Language :: Python :: 2.7',
+        'Programming Language :: Python :: 3.2', # not tested
+        'Programming Language :: Python :: 3.3', # not tested
+        'Programming Language :: Python :: 3.4', # not tested
+        'Programming Language :: Python :: 3.5',
+        'Programming Language :: Python :: 3.6', # not tested
       ],
+      requires=['numpy'],
       # packages=find_packages(),
       packages=['hfo'],
       package_dir={'hfo': 'hfo'},