Refactored interfaces in preparation for communication.

CMakeLists.txt

@@ -122,6 +122,10 @@ add_executable(mid_level_dribble_agent ${CMAKE_CURRENT_SOURCE_DIR}/example/mid_l
 set_target_properties(mid_level_dribble_agent PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example)
 target_link_libraries(mid_level_dribble_agent hfo-lib)
 
+add_executable(communication_agent ${CMAKE_CURRENT_SOURCE_DIR}/example/communication_agent.cpp)
+set_target_properties(communication_agent PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example)
+target_link_libraries(communication_agent hfo-lib)
+
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/ USE_SOURCE_PERMISSIONS)
 
 

example/communication_agent.cpp

+#include <iostream>
+#include <vector>
+#include <HFO.hpp>
+#include <cstdlib>
+
+using namespace std;
+using namespace hfo;
+
+// Before running this program, first Start HFO server:
+// $./bin/HFO --offense-agents 1
+
+int main(int argc, char** argv) {
+  int port = 6000;
+  if (argc > 1) {
+    port = atoi(argv[1]);
+  }
+  // Create the HFO environment
+  HFOEnvironment hfo;
+  // Connect to the agent's server on port 6000 and request low-level
+  // feature set. See manual for more information on feature sets.
+  hfo.connectToAgentServer(port, HIGH_LEVEL_FEATURE_SET);
+  // Play 5 episodes
+  for (int episode=0; ; episode++) {
+    status_t status = IN_GAME;
+    while (status == IN_GAME) {
+      // Get the vector of state features for the current state
+      const vector<float>& feature_vec = hfo.getState();
+      // Get any incoming communication
+      std::string msg = hfo.hear();
+      // TODO: [Sanmit] Do something with incoming communication
+      // Perform the action
+      hfo.act(DASH, 0, 0);
+      // TODO: [Sanmit] Do something with outgoing communication
+      hfo.say("Message");
+      // Advance the environment and get the game status
+      status = hfo.step();
+    }
+  }
+  hfo.act(QUIT);
+};

example/example_high_level_random_agent.py

@@ -25,9 +25,10 @@ def play_hfo(num):
       while status == HFO_Status.IN_GAME:
         state = hfo_env.getState()
         if state[5] == 1: #state[5]  is 1 when player has the ball
-          status = hfo_env.act(get_random_action())
+          hfo_env.act(get_random_action())
         else:
-          status = hfo_env.act(HFO_Actions.MOVE)
+          hfo_env.act(HFO_Actions.MOVE)
+        status = hfo_env.step()
   except:
     pass
   finally:

example/hfo_example_agent.cpp

@@ -21,9 +21,10 @@ int main() {
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
       const std::vector<float>& feature_vec = hfo.getState();
-      // Create a dash action
-      // Perform the dash and recieve the current game status
-      status = hfo.act(DASH, 20.0);
+      // Perform the dash
+      hfo.act(DASH, 20.0);
+      // Advance the environment and recieve current game status
+      status = hfo.step();
     }
     // Check what the outcome of the episode was
     cout << "Episode " << episode << " ended with status: ";

example/high_level_random_agent.cpp

@@ -31,8 +31,10 @@ int main(int argc, char** argv) {
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
       const vector<float>& feature_vec = hfo.getState();
-      // Perform the action and recieve the current game status
-      status = hfo.act(get_random_high_lv_action());
+      // Perform the action
+      hfo.act(get_random_high_lv_action());
+      // Advance the environment and get the game status
+      status = hfo.step();
     }
   }
   hfo.act(QUIT);

example/low_level_random_agent.cpp

@@ -56,7 +56,9 @@ int main(int argc, char** argv) {
       // Get the vector of state features for the current state
       const vector<float>& feature_vec = hfo.getState();
       // Perform the action and recieve the current game status
-      status = hfo.act(get_random_low_lv_action(), arg1, arg2);
+      hfo.act(get_random_low_lv_action(), arg1, arg2);
+
+      status = hfo.step();
     }
   }
 };

example/mid_level_dribble_agent.cpp

@@ -32,7 +32,9 @@ int main(int argc, char** argv) {
       // Dribble in a circle around center field
       float target_x = sin((step % 360) * PI/180);
       float target_y = cos((step % 360) * PI/180);
-      status = hfo.act(DRIBBLE_TO, target_x, target_y);
+      hfo.act(DRIBBLE_TO, target_x, target_y);
+      // Advance the environment and get the game status
+      status = hfo.step();
       step += 2;
     }
   }

example/mid_level_kick_agent.cpp

@@ -35,14 +35,16 @@ int main(int argc, char** argv) {
         // Valid kick speed varies in the range [0, 3]
         if (dist_to_target < .1) {
           // Max power kick to goal
-          status = hfo.act(KICK_TO, 1., 0., 3.0);
+          hfo.act(KICK_TO, 1., 0., 3.0);
         } else {
           // Kick to center of hfo field
-          status = hfo.act(KICK_TO, 0., 0., dist_to_target);
+          hfo.act(KICK_TO, 0., 0., dist_to_target);
         }
       } else {
-        status = hfo.act(INTERCEPT);
+        hfo.act(INTERCEPT);
       }
+      // Advance the environment and get the game status
+      status = hfo.step();
     }
   }
   hfo.act(QUIT);

example/mid_level_move_agent.cpp

@@ -33,8 +33,10 @@ int main(int argc, char** argv) {
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
       const vector<float>& feature_vec = hfo.getState();
-      // Perform the action and recieve the current game status
-      status = hfo.act(MOVE_TO, target_x, target_y);
+      // Perform the action
+      hfo.act(MOVE_TO, target_x, target_y);
+      // Advance the environment and get the game status
+      status = hfo.step();
     }
   }
   hfo.act(QUIT);

hfo/hfo.py

@@ -41,9 +41,12 @@ class HFOEnvironment(object):
 
   '''
   def __init__(self):
-    self.socket = None # Socket connection to server
-    self.numFeatures = None # Given by the server in handshake
-    self.features = None # The state features
+    self.socket = None           # Socket connection to server
+    self.numFeatures = None      # Given by the server in handshake
+    self.features = None         # The state features
+    self.requested_action = None # Action to execute and parameters
+    self.say_msg = None          # Outgoing message to say
+    self.hear_msg = None         # Incoming heard message
 
   def NumParams(self, action_type):
     ''' Returns the number of required parameters for each action type. '''
@@ -125,7 +128,24 @@ class HFOEnvironment(object):
     n_params = self.NumParams(action_type)
     assert n_params == len(args) - 1, 'Incorrect number of params to act: '\
       'Required %d provided %d'%(n_params, len(args)-1)
-    self.socket.send(struct.pack('i'+'f'*n_params, *args))
+    self.requested_action = args
+
+  def say(self, message):
+    ''' Send a communication message to other agents. '''
+    self.say_msg = message
+
+  def hear(self):
+    ''' Receive incoming communications from other players. '''
+    return self.hear_msg
+
+  def step(self):
+    ''' Indicates the agent is done and the environment should
+        progress. Returns the game status after the step'''
+    # Send action and parameters
+    self.socket.send(struct.pack('i'+'f'*(len(self.requested_action)-1),
+                                 *self.requested_action))
+    # TODO: [Sanmit] Send self.say_msg
+    self.say_msg = ''
     # Get the current game status
     data = self.socket.recv(struct.calcsize("i"))
     status = struct.unpack("i", data)[0]
@@ -136,6 +156,8 @@ class HFOEnvironment(object):
       self.cleanup()
       exit(1)
     self.features = struct.unpack('f'*self.numFeatures, state_data)
+    self.hear_msg = ''
+    # TODO: [Sanmit] Receive self.hear_msg
     return status
 
   def cleanup(self):

src/HFO.cpp

@@ -247,31 +247,50 @@ const std::vector<float>& HFOEnvironment::getState() {
   return feature_vec;
 }
 
-status_t HFOEnvironment::act(action_t action, ...) {
+void HFOEnvironment::act(action_t action, ...) {
+  requested_action = action;
+  int n_args = NumParams(action);
+  if (n_args > action_params.size()) {
+    action_params.resize(n_args);
+  }
+  va_list vl;
+  va_start(vl, action);
+  for (int i = 0; i < n_args; ++i) {
+    action_params[i] = va_arg(vl, double);
+  }
+  va_end(vl);
+}
+
+void HFOEnvironment::say(const std::string& message) {
+  // TODO: [Sanmit] Bounds check message?
+  say_msg = message;
+}
+
+std::string HFOEnvironment::hear() {
+  return hear_msg;
+}
+
+status_t HFOEnvironment::step() {
   status_t game_status;
+
   // Send the action_type
-  if (send(sockfd, &action, sizeof(action_t), 0) < 0) {
+  if (send(sockfd, &requested_action, sizeof(action_t), 0) < 0) {
     perror("[Agent Client] ERROR sending from socket");
     close(sockfd);
     exit(1);
   }
   // Send the arguments
-  int n_args = NumParams(action);
+  int n_args = NumParams(requested_action);
   if (n_args > 0) {
-    float params[n_args];
-    va_list vl;
-    va_start(vl, action);
-    for (int i = 0; i < n_args; ++i) {
-      params[i] = va_arg(vl, double);
-    }
-    va_end(vl);
-    // Send the arguments
-    if (send(sockfd, &params, sizeof(float) * n_args, 0) < 0) {
+    if (send(sockfd, action_params.data(), sizeof(float) * n_args, 0) < 0) {
       perror("[Agent Client] ERROR sending from socket");
       close(sockfd);
       exit(1);
     }
   }
+  // TODO: [Sanmit] Send say_msg
+  say_msg.clear();
+
   // Get the game status
   if (recv(sockfd, &game_status, sizeof(status_t), 0) < 0) {
     perror("[Agent Client] ERROR recieving from socket");
@@ -284,5 +303,8 @@ status_t HFOEnvironment::act(action_t action, ...) {
     close(sockfd);
     exit(1);
   }
+  hear_msg.clear();
+  // TODO: [Sanmit] Receive comm_msg
+
   return game_status;
 }

src/HFO.hpp

@@ -85,13 +85,24 @@ class HFOEnvironment {
   // Get the current state of the domain. Returns a reference to feature_vec.
   const std::vector<float>& getState();
 
-  // Take an action and recieve the resulting game status
-  status_t act(action_t action, ...);
+  // Specify action type to take followed by parameters for that action
+  virtual void act(action_t action, ...);
+
+  // Send/receive communication from other agents
+  virtual void say(const std::string& message);
+  virtual std::string hear();
+
+  // Indicates the agent is done and the environment should
+  // progress. Returns the game status after the step
+  virtual status_t step();
 
  protected:
   int numFeatures; // The number of features in this domain
   int sockfd; // Socket file desriptor for connection to agent server
   std::vector<float> feature_vec; // Holds the features
+  action_t requested_action; // Action requested
+  std::vector<float> action_params; // Action parameters
+  std::string say_msg, hear_msg; // Messages to hear/say
 
   // Handshake with the agent server to ensure data is being correctly
   // passed. Also sets the number of features to expect.

src/agent.cpp

@@ -424,6 +424,7 @@ void Agent::actionImpl() {
     perror("[Agent Server] ERROR sending state features from socket");
     exit(1);
   }
+  // TODO: [Sanmit] Send the communication heard by the agent
 
   // Get the action type
   action_t action;
@@ -442,6 +443,9 @@ void Agent::actionImpl() {
       exit(1);
     }
   }
+  // TODO: [Sanmit] Receive the outgoing communication
+  // TODO: [Sanmit] "Say" in the actual game
+
   if (action == SHOOT) {
     const ShootGenerator::Container & cont =
         ShootGenerator::instance().courses(this->world(), false);