Merge pull request #32 from drallensmith/master

Update manual; avoid tabs in python files; get hand_coded_defense_agent working reliably

.gitattributes

+*.py whitespace=tab-in-indent

.gitignore

@@ -73,6 +73,7 @@ example/mid_level_move_agent
 example/mid_level_kick_agent
 example/mid_level_dribble_agent
 example/communication_agent
+example/hand_coded_defense_agent
 
 # Dependency directories
 librcsc-prefix/

bin/HFO

@@ -2,7 +2,13 @@
 # encoding: utf-8
 from __future__ import print_function
 
-import subprocess, os, time, numpy, sys
+import atexit
+import numpy
+import os
+import time
+import signal
+import subprocess
+import sys
 
 # Global list of all/essential running processes
 processes, necProcesses = [], []
@@ -12,6 +18,16 @@ SERVER_BIN = 'rcssserver'
 # Command to run the monitor. Edit as needed; ditto to the above re directories.
 MONITOR_BIN = 'soccerwindow2'
 
+def cleanup():
+  """Cleanup even if doing SystemExit, as with term."""
+  for p in reversed(processes):
+    p.terminate()
+    time.sleep(0.1)
+    p.kill()
+
+def term(received_signal, ignored_stack):
+  sys.exit("Signal {0!r} received; exiting".format(received_signal))
+
 def launch(cmd, name = 'Unknown', necessary = True, suppressOutput = True):
   """Launch a process.
 
@@ -22,8 +38,8 @@ def launch(cmd, name = 'Unknown', necessary = True, suppressOutput = True):
   """
   kwargs = {}
   if suppressOutput:
-    kwargs = {'stdout': open('/dev/null', 'w'),
-              'stderr': open('/dev/null', 'w')}
+    kwargs = {'stdout': open(os.devnull, 'w'),
+              'stderr': open(os.devnull, 'w')}
   try:
     p = subprocess.Popen(cmd.split(' '), shell = False, **kwargs)
   except (IOError, OSError):
@@ -69,6 +85,13 @@ def main(args):
                     args.min_ball_x, args.max_ball_x, args.messageSize,
                     args.verbose)
 
+  try:
+    signal.signal(signal.SIGTERM, term)
+  except (ValueError, AttributeError):
+    print("Not able to catch sigterm")
+
+  atexit.register(cleanup)
+
   try:
     # Launch the Server
     server = launch(serverCommand + serverOptions, name='server',

doc/Makefile

@@ -83,7 +83,7 @@ export LC_ALL		?= C
 #
 # If you list files or wildcards here, they will *not* be cleaned - default is
 # to allow everything to be cleaned.
-#neverclean		?= *.pdf
+neverclean		?= *.pdf
 #
 # Alternatively (recommended), you can add those lines to a Makefile.ini file
 # and it will get picked up automatically without your having to edit this

doc/manual.tex

@@ -33,14 +33,14 @@ Installation with CMake:
 
 \begin{verbatim}
   > mkdir build && cd build
-  > cmake -DCMAKE_BUILD_TYPE=Release ..
+  > cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo ..
   > make -j4 # Replace 4 with the number of cores on your machine
   > make install # This just copies binaries to the HFO directory; no sudo required
 \end{verbatim}
 
 HFO installation has been tested on Ubuntu Linux and OSX. Successful
 installation depends on
-\verb+CMake, Boost-system, Boost-filesystem, flex+.
+\verb+CMake, Boost-system, Boost-filesystem,+ and \verb+flex+.
 
 These depedencies can be installed on Ubuntu using the following
 command:\\
@@ -51,7 +51,7 @@ By default, the soccerwindow2 visualizer is also built and requires
 the visualizer. To disable this component, use the following cmake
 command:\\
 
-\noindent \verb+  > cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SOCCERWINDOW=False ..+
+\noindent \verb+  > cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo -DBUILD_SOCCERWINDOW=False ..+
 
 \subsection{Python Interface}
 
@@ -66,6 +66,9 @@ or
 
 if you have limited permissions on the machine.
 
+Successful installation depends on
+\verb+Python 2.7, 3.2, or above+ (tested with 2.7 and 3.5) and \verb+numpy+.
+
 \section{Uninstall}
 
 The install is completely contained in the HFO directory. Simply
@@ -170,8 +173,8 @@ compatibility.
 
 \section{Recording}
 
-It is possible to record the low-level state perceptions, actions, and
-game status of all players:\\
+It is possible to record the state perceptions (low- or high-level depending on
+the player), low-level actions, and game status of all players:\\
 
 \noindent \verb+  > ./bin/HFO --record + \\
 
@@ -388,6 +391,8 @@ changes in $\theta$.
 Given an angular feature $\langle \alpha_1, \alpha_2 \rangle$ we can
 recover the original angle $\theta$ (in radians) by taking the
 $cos^{-1}(\alpha_2)$ and multiplying by the sign of $\alpha_1$.
+Another method uses the common 'atan2' function as
+$atan2(\alpha_1, \alpha_2)$.
 
 \begin{figure*}[htp]
   \centering

example/defense_2v2.sh

+#!/bin/bash
+
+# HAS TO BE RUN FROM EXAMPLE DIR DUE TO hand_coded_defense_agent CONFIG!
+
+../bin/HFO --offense-npcs=2 --defense-agents=1 --defense-npcs=1 --trials 20 --headless --port=7000 &
+# The below sleep period is needed to avoid the agent connecting in before the
+# Trainer.py script gets the base/Helios goalie connected in; if that happens,
+# the agent gets assigned unum 1 and there is a mixup in which agent is
+# supposed to be the goalie (some portions of the various programs go by unum,
+# others go by a goalie flag).
+sleep 15
+./hand_coded_defense_agent &> agent1.txt &
+sleep 5
+
+# The magic line
+#   $$ holds the PID for this script
+#   Negation means kill by process group id instead of PID
+trap "kill -TERM -$$" SIGINT
+wait
\ No newline at end of file

example/hand_coded_defense_agent.cpp

@@ -208,7 +208,8 @@ int main(int argc, char** argv) {
   HFOEnvironment hfo;
   int random = 0;
   double numGoals = 0;
-  double numEpisodes = 5000;
+  int numEpisodes = 5000;
+  double actualNumEpisodes = 0;
   // Connect to the server and request high-level feature set. See
   // manual for more information on feature sets.
   hfo.connectToServer(features, config_dir, port, server_addr,
@@ -233,15 +234,15 @@ int main(int argc, char** argv) {
               string s = hfo::ActionToString(a.action) + " " +to_string(a.param) + "\n";
              // std::cout << s;
       } else {
-                  std::cout <<"Randm";
-                  action_t a = get_random_high_lv_action();
-                   if (a == hfo :: MARK_PLAYER) {
-                  hfo.act(NOOP);
-              } else {
-                      hfo.act(a);
-              }
-          }
-          //hfo.act(hfo::INTERCEPT);
+	std::cout <<"Random";
+	action_t a = get_random_high_lv_action();
+	if (a == hfo :: MARK_PLAYER) {
+	  hfo.act(NOOP); // why not MOVE?
+	} else {
+	  hfo.act(a);
+	}
+      }
+      //hfo.act(hfo::INTERCEPT);
       status = hfo.step();
     }
     if (status==GOAL)
@@ -249,8 +250,14 @@ int main(int argc, char** argv) {
     // Check what the outcome of the episode was
     cout << "Episode " << episode << " ended with status: "
          << StatusToString(status) << std::endl;
+    
+    if (status==SERVER_DOWN) {
+      break;
+    } else {
+      actualNumEpisodes++;
+    }
   }
-  double cost = numGoals/numEpisodes;
+  double cost = numGoals/actualNumEpisodes;
   hfo.act(QUIT);
   //write_cost(cost);
 };

example/make_hand_coded_defense_agent_executable.sh

-# Run this file to create an executable of hand_coded_defense_agent.cpp
-g++ -c hand_coded_defense_agent.cpp -I ../src/ -std=c++0x -pthread
-g++ -L ../lib/ hand_coded_defense_agent.o -lhfo -pthread -o hand_coded_defense_agent  -Wl,-rpath,../lib

src/agent.cpp

@@ -804,8 +804,10 @@ bool Agent::doMarkPlayer(int unum) {
   int count = 0;
   for ( PlayerPtrCont::const_iterator it = wm.opponentsFromSelf().begin(); it != o_end; ++it ) {
       if ( (*it)->distFromBall() < 5 ) {
+	if ((kicker_unum == -1) || (kicker_unum != unum)) { // try to obey action instruction
           kicker_pos = (*it)->pos();
           kicker_unum = (*it)->unum();
+	}
       }
   }