Merge pull request #19 from sanmit/teams

Opponent binary support

.gitignore

@@ -62,10 +62,10 @@ cmake_install.cmake
 CMakeFiles/
 
 # Executeables
-bin/agent
-bin/sample_coach
-bin/sample_player
-bin/sample_trainer
+bin/teams/base/agent
+bin/teams/base/sample_coach
+bin/teams/base/sample_player
+bin/teams/base/sample_trainer
 bin/rcssserver
 bin/soccerwindow2
 example/hfo_example_agent
@@ -74,6 +74,7 @@ example/low_level_random_agent
 example/mid_level_move_agent
 example/mid_level_kick_agent
 example/mid_level_dribble_agent
+example/communication_agent
 
 # Dependency directories
 librcsc-prefix/

CMakeLists.txt

@@ -41,7 +41,7 @@ if(BUILD_SOCCERWINDOW)
     INSTALL_COMMAND "")
   ExternalProject_Get_Property(soccerwindow2 BINARY_DIR)
   set(SOCCERWINDOW2_BINARY_DIR ${BINARY_DIR}/bin)
-  install(DIRECTORY ${SOCCERWINDOW2_BINARY_DIR} DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/ USE_SOURCE_PERMISSIONS)
+  install(DIRECTORY ${SOCCERWINDOW2_BINARY_DIR} DESTINATION ${CMAKE_CURRENT_SOURCE_DIR} USE_SOURCE_PERMISSIONS)
 endif()
 
 set(SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src)
@@ -82,6 +82,12 @@ add_executable(sample_coach ${SOURCE_DIR}/main_coach.cpp ${SOURCE_DIR}/sample_co
 add_executable(sample_player ${SOURCE_DIR}/HFO.cpp ${SOURCE_DIR}/main_player.cpp ${SOURCE_DIR}/sample_player.cpp ${SOURCE_DIR}/agent.cpp) 
 add_executable(sample_trainer ${SOURCE_DIR}/main_trainer.cpp ${SOURCE_DIR}/sample_trainer.cpp)
 add_executable(agent ${SOURCE_DIR}/HFO.cpp ${SOURCE_DIR}/main_agent.cpp ${SOURCE_DIR}/agent.cpp)
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teams/base)
+set_target_properties(sample_coach PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teams/base)
+set_target_properties(sample_player PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teams/base)
+set_target_properties(sample_trainer PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teams/base)
+set_target_properties(agent PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teams/base)
+
 add_library(hfo-lib SHARED ${SOURCE_DIR}/HFO.hpp ${SOURCE_DIR}/HFO.cpp)
 set_target_properties(hfo-lib PROPERTIES OUTPUT_NAME hfo)
 set_target_properties(hfo-lib PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib)
@@ -126,8 +132,6 @@ add_executable(communication_agent ${CMAKE_CURRENT_SOURCE_DIR}/example/communica
 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)
-
-
-
-install(DIRECTORY ${RCSSSERVER_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}/bin DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/ USE_SOURCE_PERMISSIONS)
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/example DESTINATION ${CMAKE_CURRENT_SOURCE_DIR} USE_SOURCE_PERMISSIONS)
+install(DIRECTORY ${RCSSSERVER_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}/bin DESTINATION ${CMAKE_CURRENT_SOURCE_DIR} USE_SOURCE_PERMISSIONS)
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/teams DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/bin USE_SOURCE_PERMISSIONS)

bin/HFO

@@ -28,12 +28,14 @@ def launch(cmd, name = 'Unknown', necessary = True, supressOutput = True):
     necProcesses.append([p,name])
   return p
 
-def main(args, team1='left', team2='right'):
+def main(args):
   """Sets up the teams, launches the server and monitor, starts the trainer.
   """
   if args.logging and not os.path.exists(args.logDir):
     os.makedirs(args.logDir)
   num_agents   = args.offenseAgents + args.defenseAgents
+  team1        = args.offenseTeam
+  team2        = args.defenseTeam
   binary_dir   = os.path.dirname(os.path.realpath(__file__))
   server_port  = args.port + num_agents
   coach_port   = args.port + num_agents + 1
@@ -118,6 +120,10 @@ def parseArgs():
                  help='Number of offensive uncontrolled players. Default: 0.')
   p.add_argument('--defense-npcs', dest='defenseNPCs', type=int, default=0,
                  help='Number of defensive uncontrolled players. Default: 0.')
+  p.add_argument('--offense-team', dest='offenseTeam', type=str, default='base',
+                 help='Team name to pull offensive NPCs from. Options: {base, helios} Default: base.') 
+  p.add_argument('--defense-team', dest='defenseTeam', type=str, default='base',
+                 help='Team name to pull defensive NPCs from. Options: {base, helios} Default: base')
   p.add_argument('--no-sync', dest='sync', action='store_false', default=True,
                  help='Run server in non-sync mode.')
   p.add_argument('--port', dest='port', type=int, default=6000,

bin/Trainer.py

 #!/usr/bin/env python
 # encoding: utf-8
 
-import sys, numpy, time, os, subprocess
+import sys, numpy, time, os, subprocess, teams
 from Communicator import ClientCommunicator, TimeoutError
 
 class DoneError(Exception):
@@ -51,36 +51,6 @@ class Trainer(object):
     self._connectedPlayers = []
     self.initMsgHandlers()
 
-  def launch_npc(self, player_num, play_offense, wait_until_join=True):
-    """Launches a player using sample_player binary
-
-    Returns a Popen process object
-    """
-    print 'Launch npc %s-%d'%(self._offenseTeamName if play_offense
-                              else self._defenseTeamName, player_num)
-    if play_offense:
-      team_name = self._offenseTeamName
-    else:
-      team_name = self._defenseTeamName
-    binary_dir = os.path.dirname(os.path.realpath(__file__))
-    config_dir = os.path.join(binary_dir, '../config/formations-dt')
-    player_conf = os.path.join(binary_dir, '../config/player.conf')
-    player_cmd = os.path.join(binary_dir, 'sample_player')
-    player_cmd += ' -t %s -p %i --config_dir %s ' \
-                  ' --log_dir %s --player-config %s' \
-                  %(team_name, self._serverPort, config_dir,
-                    self._logDir, player_conf)
-    if self._record:
-        player_cmd += ' --record'
-    if player_num == 1:
-        player_cmd += ' -g'
-    kwargs = {'stdout':open('/dev/null', 'w'),
-              'stderr':open('/dev/null', 'w')}
-    p = subprocess.Popen(player_cmd.split(' '), shell = False, **kwargs)
-    if wait_until_join:
-      self.waitOnPlayer(player_num, play_offense)
-    return p
-
   def launch_agent(self, agent_num, agent_ext_num, play_offense, port, wait_until_join=True):
     """Launches a learning agent using the agent binary
 
@@ -105,9 +75,9 @@ class Trainer(object):
       self._agentNumInt.append(internal_player_num)
       numTeammates = self._numDefense - 1
       numOpponents = self._numOffense
-    binary_dir = os.path.dirname(os.path.realpath(__file__))
-    config_dir = os.path.join(binary_dir, '../config/formations-dt')
-    player_conf = os.path.join(binary_dir, '../config/player.conf')
+    binary_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'teams', 'base')
+    config_dir = os.path.join(binary_dir, 'config/formations-dt')
+    player_conf = os.path.join(binary_dir, '/config/player.conf')
     agent_cmd =  os.path.join(binary_dir, 'agent')
     agent_cmd += ' -t %s -p %i --numTeammates %i --numOpponents %i' \
                  ' --playingOffense %i --serverPort %i --log_dir %s' \
@@ -127,45 +97,46 @@ class Trainer(object):
       self.waitOnPlayer(agent_ext_num, play_offense)
     return p
 
-  def getDefensiveRoster(self, team_name):
-    """Returns a list of player numbers on a given team that are thought
-    to prefer defense. This map is not set in stone as the players on
-    some teams can adapt and change their roles.
-
-    """
-    if team_name == 'Borregos':
-      return [9,10,8,11,7,4,6,2,3,5]
-    elif team_name == 'WrightEagle':
-      return [5,2,8,9,10,6,3,11,4,7]
-    else:
-      return [2,3,4,5,6,7,8,11,9,10]
-
-  def getOffensiveRoster(self, team_name):
-    """Returns a list of player numbers on a given team that are thought
-    to prefer offense. This map is not set in stone as the players on
-    some teams can adapt and change their roles.
-
-    """
-    if team_name == 'Borregos':
-      return [2,4,6,5,3,7,9,10,8,11]
-    elif team_name == 'WrightEagle':
-      return [11,4,7,3,6,10,8,9,2,5]
-    else:
-      return [11,7,8,9,10,6,3,2,4,5]
-
   def addTeam(self, team_name):
     """ Adds a team to the team list"""
-    self._teams.append(team_name)
+    # Check whether team name valid, and map to a format acceptable to third party binary
+    nameMap = {'base':'base', 'helios':'HELIOS'}
+    if team_name not in nameMap.keys():
+      print 'Invalid team name: ', team_name 
+      sys.exit(1)
+    # Create side specific team  
+    if len(self._teams) == 0: 
+      self._teams.append(nameMap[team_name] + '_left')
+    elif len(self._teams) == 1:
+      self._teams.append(nameMap[team_name] + '_right')
+    else:
+      print 'Too many teams added!'
+      sys.exit(1)
+
+  def createTeam(self, name):
+    teamDir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'teams')   
+    if 'HELIOS' in name:
+      print 'Creating team HELIOS'
+      return teams.Helios(name, os.path.join(teamDir, 'helios', 'helios-13Eindhoven'), os.path.join(teamDir, 'helios', 'local', 'lib'), 'helios_player', host='localhost', port=self._serverPort)
+    elif 'base' in name:
+      print 'Creating team Agent2d (base)'
+      return teams.Agent2d(name, os.path.join(teamDir, 'base'), None, 'sample_player', self._logDir, self._record, host='localhost', port=self._serverPort)
+    else:
+      print 'Invalid team found'
+      sys.exit(1)
 
-  def setTeams(self):
+  def getTeams(self):
     """ Sets the offensive and defensive teams and player rosters. """
     self._offenseTeamInd = 0
     self._offenseTeamName = self._teams[self._offenseTeamInd]
     self._defenseTeamName = self._teams[1-self._offenseTeamInd]
-    offensive_roster = self.getOffensiveRoster(self._offenseTeamName)
-    defensive_roster = self.getDefensiveRoster(self._defenseTeamName)
-    self._offenseOrder = [1] + offensive_roster # 1 for goalie
-    self._defenseOrder = [1] + defensive_roster # 1 for goalie
+    # set up offense
+    offenseTeam = self.createTeam(self._offenseTeamName)    
+    self._offenseOrder = [1] + offenseTeam._offense_order # 1 for goalie
+    # set up defense
+    defenseTeam = self.createTeam(self._defenseTeamName)
+    self._defenseOrder = [1] + defenseTeam._defense_order # 1 for goalie
+    return (offenseTeam, defenseTeam)
 
   def teamToInd(self, team_name):
     """ Returns the index of a given team. """
@@ -429,7 +400,7 @@ class Trainer(object):
   def run(self, necProcesses):
     """ Run the trainer """
     try:
-      self.setTeams()
+      (offenseTeam, defenseTeam) = self.getTeams()
       offense_unums = self._offenseOrder[1: self._numOffense + 1]
       sorted_offense_agent_unums = sorted(self._offenseOrder[1:self._offenseAgents+1])
       defense_unums = self._defenseOrder[: self._numDefense]
@@ -446,7 +417,8 @@ class Trainer(object):
           necProcesses.append([agent, 'offense_agent_' + str(agent_num)])
           agent_num += 1
         else:
-          player = self.launch_npc(player_num, play_offense=True)
+          player = offenseTeam.launch_npc(player_num)
+          self.waitOnPlayer(player_num, True)
           if player_num in offense_unums:
             self._npcPopen.append(player)
             necProcesses.append([player, 'offense_npc_' + str(player_num)])
@@ -464,7 +436,8 @@ class Trainer(object):
           necProcesses.append([agent, 'defense_agent_' + str(agent_num)])
           agent_num += 1
         else:
-          player = self.launch_npc(player_num, play_offense=False)
+          player = defenseTeam.launch_npc(player_num)
+          self.waitOnPlayer(player_num, False)
           if player_num in defense_unums:
             self._npcPopen.append(player)
             necProcesses.append([player, 'defense_npc_' + str(player_num)])

bin/start.sh

@@ -8,8 +8,8 @@ echo " Copyright 2007-2012.  Hidehisa Akiyama and Hiroki Shimora"
 echo " All rights reserved."
 echo "******************************************************************"
 
-BINARY_DIR=`dirname $0`
-CONFIG_DIR=$BINARY_DIR/../config
+BINARY_DIR=`dirname $0`/teams/base
+CONFIG_DIR=$BINARY_DIR/config
 
 player="${BINARY_DIR}/sample_player"
 coach="${BINARY_DIR}/sample_coach"

bin/start_agent.sh

 #!/bin/bash
 
-BINARY_DIR=`dirname $0` #"$( cd "$( dirname "$0" )" && pwd )"
-CONFIG_DIR=$BINARY_DIR/../config
+BINARY_DIR=`dirname $0`/teams/base #"$( cd "$( dirname "$0" )" && pwd )"
+CONFIG_DIR=$BINARY_DIR/config
 
 player="${BINARY_DIR}/agent"
 coach="${BINARY_DIR}/sample_coach"

bin/teams.py

+#!/usr/bin/env python
+# encoding: utf-8
+import os, subprocess
+
+class Team(object):
+  """ Abstract class. Handles launching players from 3rd party binaries. 
+  """
+  def __init__(self, name, binaryPath, libDir, options, offenseOrder, defenseOrder):
+    """ 
+      Creates a team
+
+      name: name of the team
+      binaryPath: absolute path of the executable
+      libDir: library dependencies directory
+      options: team-specific parameters for executable in string format
+      offenseOrder: order to prioritize offensive unums (do not include 0)
+      defenseOrder: order to prioritize defensive unums (do not include 0)
+    """
+    self._name = name
+    self._binary_path = binaryPath
+    self._lib_dir = libDir
+    self._options = options
+    self._offense_order = offenseOrder
+    self._defense_order = defenseOrder
+
+  def launch_npc(self, player_num):
+    """
+      Abstract method that should be overrided by subclasses. Launches an npc with player number player_num.
+      The method that overrides this should call start_npc_process. See examples below. 
+    """
+    pass
+
+  def start_npc_proc(self, launchOpts=None):
+    """Launches a player using the team-specific binary
+       launchOpts should be used to append player specific options 
+       (e.g., helios uses '-g' to signify launching a goalie )
+
+    Returns a Popen process object
+    """   
+    player_cmd = self._binary_path
+    player_cmd += ' %s' % (self._options)
+    if launchOpts != None:
+      player_cmd += ' %s' % (launchOpts)
+    kwargs = {'stdout':open('/dev/null', 'w'),
+              'stderr':open('/dev/null', 'w')}
+    env = dict(os.environ)
+    if self._lib_dir != None:
+      env['LD_LIBRARY_PATH'] = self._lib_dir
+    p = subprocess.Popen(player_cmd.split(' '), env=env, shell = False, **kwargs)
+    return p
+
+
+class Agent2d(Team):
+
+  def __init__(self, name, baseDir, libDir, binaryName, logDir, record, host='localhost', port=6000):
+
+    binaryPath = os.path.join(baseDir, binaryName)
+    options = '-t %s -p %i --config_dir %s/config/formations-dt --log_dir %s --player-config %s/config/player.conf' % (name, port, baseDir, logDir, baseDir)
+    if record:
+      options += ' --record'
+    offenseOrder =  [11,7,8,9,10,6,3,2,4,5]
+    defenseOrder =  [2,3,4,5,6,7,8,11,9,10]
+    super(Agent2d, self).__init__(name, binaryPath, libDir, options, offenseOrder, defenseOrder)
+
+  def launch_npc(self, player_num):
+    launchOpts = None
+    if player_num == 1:
+      launchOpts = '-g'
+    print 'Launch npc %s-%d' % (self._name, player_num)
+    return self.start_npc_proc(launchOpts)
+
+class Helios(Team):
+
+  def __init__(self, name, baseDir, libDir, binaryName, host='localhost', port=6000):
+
+    binaryPath = os.path.join(baseDir, binaryName)
+    options = '--player-config %s/player.conf -h %s -t %s --formation-conf-dir %s/data/formations --role-conf %s/data/role.conf --ball-table %s/data/ball_table.dat --chain-search-method BestFirstSearch --evaluator-name Default --max-chain-length 4 --max-evaluate-size 1000 --sirm-evaluator-param-dir %s/data/sirm_evaluator/ --goalie-position-dir %s/data/goalie_position/ --intercept-conf-dir %s/data/intercept_probability/ --opponent-data-dir %s/data/opponent_data/ -p %d' % (baseDir, host, name, baseDir, baseDir, baseDir, baseDir, baseDir, baseDir, baseDir, port)
+    offenseOrder =  [11,7,8,9,10,6,3,2,4,5]
+    defenseOrder =  [2,3,4,5,6,7,8,11,9,10]
+    super(Helios, self).__init__(name, binaryPath, libDir, options, offenseOrder, defenseOrder)
+
+  def launch_npc(self, player_num):
+    launchOpts = None
+    if player_num == 1:
+      launchOpts = '-g'
+    print 'Launch npc %s-%d' % (self._name, player_num)
+    return self.start_npc_proc(launchOpts)
+
+
+
+
+