Testing scripts created; travis likely headache...

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

@@ -193,13 +193,13 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
     PlayerObject* teammate = *it;
     if (teammate->pos().x > 0 && teammate->unum() > 0 &&
         detected_teammates < numTeammates) {
-      addFeature(teammate->unum());
+      addFeature(teammate->unum()/100.0);
       detected_teammates++;
     }
   }
-  // Add zero features for any missing teammates
+  // Add -2 features for any missing teammates
   for (int i=detected_teammates; i<numTeammates; ++i) {
-    addFeature(0);
+    addFeature(FEAT_MIN);
   }
 
   detected_opponents = 0;
@@ -208,13 +208,13 @@ const std::vector<float>& LowLevelFeatureExtractor::ExtractFeatures(
     PlayerObject* opponent = *it;
     if (opponent->pos().x > 0 && opponent->unum() > 0 &&
         detected_opponents < numOpponents) {
-      addFeature(opponent->unum());
+      addFeature(opponent->unum()/100.0);
       detected_opponents++;
     }
   }
-  // Add zero features for any missing opponents
+  // Add -2 features for any missing opponents
   for (int i=detected_opponents; i<numOpponents; ++i) {
-    addFeature(0);
+    addFeature(FEAT_MIN);
   }
 
   assert(featIndx == numFeatures);

tests/test_basic.py

+"""Very basic tests, only of functions available sans server"""
+#from __future__ import print_function
+
+import hfo
+
+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))
+

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
+
+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)
+
+hfo_env = hfo.HFOEnvironment()
+
+time.sleep(0.2)
+
+assert (HFO_process.poll() is
+        None), "Failed to start HFO with command '{}'".format(" ".join(popen_list))
+
+time.sleep(3)
+
+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()
+
+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")