Updates for OSX compatibility.

CMakeLists.txt

@@ -62,6 +62,10 @@ if(INSTALL_ADDITIONAL_TEAMS)
   endif()
 endif()
 
+if(APPLE)
+  set(CMAKE_SHARED_LIBRARY_SUFFIX ".so")
+endif()
+
 set(SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY bin)
 include_directories(${SOURCE_DIR} ${SOURCE_DIR}/chain_action)

example/communication_agent.cpp

@@ -15,7 +15,7 @@ using namespace hfo;
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;
@@ -50,7 +50,7 @@ int main(int argc, char** argv) {
       float y_pos = feature_vec[1];
       float target_x = 0;
       float target_y = unum == 11 ? .3 : -.3;
-      bool in_position = (pow(x_pos-target_x, 2) + pow(y_pos-target_y,2)) < .0005;
+      bool in_position = (pow(x_pos-target_x, 2) + pow(y_pos-target_y,2)) < .001;
       bool able_to_kick = feature_vec[5] > 0;
       if (agent_on_ball == unum && in_position && able_to_kick) {
         int teammate_unum = unum == 11 ? 7 : 11;

example/example_high_level_random_agent.py

@@ -24,7 +24,8 @@ def main():
       else:
         hfo.act(MOVE)
       status = hfo.step()
-    print 'Episode', episode, 'ended with', hfo.statusToString(status)
+    # print 'Episode', episode, 'ended with', hfo.statusToString(status)
+    print('Episode %d ended with %s'%(episode, hfo.statusToString(status)))
 
 if __name__ == '__main__':
   main()

example/hfo_example_agent.cpp

@@ -13,7 +13,7 @@ using namespace hfo;
 feature_set_t features = LOW_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;

example/high_level_random_agent.cpp

@@ -13,7 +13,7 @@ using namespace hfo;
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;

example/low_level_random_agent.cpp

@@ -13,7 +13,7 @@ using namespace hfo;
 feature_set_t features = LOW_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;
@@ -23,7 +23,6 @@ float arg1, arg2;
 // Returns a random low-level action
 action_t get_random_low_lv_action() {
   action_t action_indx = (action_t) ((rand() % 4) + DASH);
-  std::cout << action_indx << std::endl;
   switch (action_indx) {
     case DASH:
       arg1 = (rand() / float(RAND_MAX)) * 200 - 100; // power: [-100, 100]
@@ -55,7 +54,7 @@ int main(int argc, char** argv) {
   // manual for more information on feature sets.
   hfo.connectToServer(features, config_dir, unum, port, server_addr,
                            team_name, goalie);
-  for (int episode=0; ; episode++) {
+  for (int episode=0; episode<10; episode++) {
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
@@ -65,6 +64,8 @@ int main(int argc, char** argv) {
       // Advance the environment and recieve current game status
       status = hfo.step();
     }
+    cout << "Episode " << episode << " ended with status: "
+         << StatusToString(status) << std::endl;;
   }
   hfo.act(QUIT);
 };

example/mid_level_dribble_agent.cpp

@@ -17,7 +17,7 @@ using namespace hfo;
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;

example/mid_level_kick_agent.cpp

@@ -15,7 +15,7 @@ using namespace hfo;
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;

example/mid_level_move_agent.cpp

@@ -14,7 +14,7 @@ using namespace hfo;
 feature_set_t features = HIGH_LEVEL_FEATURE_SET;
 string config_dir = "bin/teams/base/config/formations-dt";
 int unum = 11;
-int port = 6001;
+int port = 6000;
 string server_addr = "localhost";
 string team_name = "base_left";
 bool goalie = false;

example/passing_agents.sh

 #!/bin/bash
 
 ./bin/HFO --offense-agents=2 --no-sync &
-sleep 1
+sleep 5
 ./example/communication_agent 7 6000 &
-sleep 1
+sleep 5
 ./example/communication_agent 11 6000 &
 
 # The magic line

hfo/hfo.py

@@ -112,8 +112,8 @@ class HFOEnvironment(object):
     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)
-    hfo_lib.act(self.obj, action_type,
-                as_ctypes(np.asarray(args[1:], dtype=np.float32)))
+    params = np.asarray(args[1:], dtype=np.float32)
+    hfo_lib.act(self.obj, action_type, params.ctypes.data_as(POINTER(c_float)))
 
   def say(self, message):
     """ Transmit a message """

hfo/hfo_c_wrapper.h

@@ -44,6 +44,7 @@ extern "C" {
     return ActionToString(action).c_str();
   }
   const char* statusToString(const hfo::status_t status) {
+    StatusToString(status); // TODO: OSX requires two calls...?!
     return StatusToString(status).c_str();
   }
 }

src/agent.cpp

@@ -326,7 +326,6 @@ void Agent::actionImpl() {
       this->doSmartKick();
       break;
     case PASS:
-      std::cout << "Inagent pass: 0: " << params[0] << std::endl;
       this->doPassTo(int(params[0]));
       break;
     case DRIBBLE: