Initial Commit.

Communicator.py

+#!/usr/bin/env python
+
+'''
+File: Communicator.py
+Author: Samuel Barrett
+Description: some classes for socket communication
+Created:  2010-11-07
+Modified: 2010-11-07
+'''
+
+import socket, sys, time
+import cPickle as pickle
+
+defaultPort = 5557
+
+class TimeoutError(Exception):
+  def __init__(self, *args):
+    self.value = args
+  def __str__(self):
+    return repr(self.value)
+
+class Communicator(object):
+  def __init__(self,host='localhost',port=defaultPort,sock=None):
+    self._sock = sock
+    self._storedMsg = ''
+    self._addr = (host,port)
+
+    self.initialize()
+
+  def initialize(self):
+    if self._sock is None:
+      raise ValueError
+
+  def close(self):
+    if self._sock is not None:
+      try:
+        self._sock.shutdown(socket.SHUT_RDWR)
+        self._sock.close()
+      except:
+        pass
+      finally:
+        self._sock = None
+    
+  def sendMsg(self,msg):
+    #print 'sending',msg
+    self._sock.sendto(msg + '\0',self._addr)
+
+  def recvMsg(self,event=None,retryCount=None):
+    msg = self._storedMsg
+    while ('\0' not in msg):
+      if (event is not None) and event.isSet():
+        return None
+      newMsg = ''
+      try:
+        newMsg,self._addr = self._sock.recvfrom(8192)
+        msg += newMsg
+      except socket.error:
+        #time.sleep(0.1)
+        pass
+      if len(newMsg) == 0:
+        if (retryCount is None) or (retryCount <= 0):
+          raise TimeoutError
+        else:
+          retryCount -= 1
+          print 'error receiving message, trying again'
+          time.sleep(0.3)
+          #raise ValueError('Error while receiving message')
+    (msg,sep,rest) = msg.partition('\0')
+    self._storedMsg = rest
+    #print 'received',msg
+    return msg
+    
+  def send(self,obj):
+    self.sendMsg(pickle.dumps(obj))
+
+  def recv(self,event=None):
+    msg = self.recvMsg(event)
+    if msg is None:
+      return None
+    return self.convertMsg(msg)
+
+  def convertMsg(self,msg):
+    return pickle.loads(msg)
+
+class ClientCommunicator(Communicator):
+  def initialize(self):
+    try:
+      self._sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+      self._sock.settimeout(5)
+    except:
+      print >>sys.stderr,'Error creating socket'
+      raise
+
+# vim: ts=2:sw=2:expandtab:

start.py

+#!/usr/bin/env python
+# encoding: utf-8
+
+import subprocess, os, time, numpy
+from signal import SIGINT
+
+UT_AGENT_DIR    = '/u/mhauskn/projects/robocup_libs/utvillasim/agent2d-3.1.1/src/'
+OTHER_AGENT_DIR = '/projects/agents2/villasim/opponents2D/'
+#'/u/mhauskn/projects/robocup_libs/utvillasim/agent2d-3.1.1/src/'
+
+SERVER_CMD = 'rcssserver server::port=6000 server::coach_port=6001 server::olcoach_port=6002 server::coach=1 server::game_log_dir=/tmp server::text_log_dir=/tmp'
+MONITOR_CMD = 'rcssmonitor'
+
+def getAgentDirCmd(name,first):
+  if name == 'ut':
+    if first:
+      name = 'ut1'
+    else:
+      name = 'ut2'
+    cmd = './start.sh -t %s' % name
+    dir = UT_AGENT_DIR
+  elif name == 'base':
+    dir = os.path.join(OTHER_AGENT_DIR,name,'src')
+    if first:
+      name = 'base1'
+    else:
+      name = 'base2'
+    cmd = './start.sh -t %s' % name
+  else:
+    cmd = './start.sh'
+    dir = os.path.join(OTHER_AGENT_DIR,name)
+  return name,cmd,dir
+
+#team2 = 'oxsy' # fcportugal2d, gdut-tiji, marlik, nadco-2d, warthog
+
+
+processes = []
+necProcesses = []
+
+def launch(cmd,necessary=True,supressOutput=True,name='Unknown'):
+  kwargs = {}
+  if supressOutput:
+    kwargs = {'stdout':open('/dev/null','w'),'stderr':open('/dev/null','w')}
+  p = subprocess.Popen(cmd.split(' '),shell=False,**kwargs)
+  processes.append(p)
+  if necessary:
+    necProcesses.append([p,name])
+  return p
+
+def main(team1,team2,rng,options):
+  serverOptions = ''
+  if options.sync:
+    serverOptions += ' server::synch_mode=on'
+    
+  team1,team1Cmd,team1Dir = getAgentDirCmd(team1,True)
+  team2,team2Cmd,team2Dir = getAgentDirCmd(team2,False)
+  if not os.path.isdir(team1Dir):
+    print 'Bad team 1: %s' % team1
+    sys.exit(1)
+  if not os.path.isdir(team2Dir):
+    print 'Bad team 2: %s' % team2
+    sys.exit(1)
+  try:
+    launch(SERVER_CMD + serverOptions,name='server')
+    time.sleep(0.2)
+    if not options.headless:
+      launch(MONITOR_CMD,name='monitor')
+    
+    # launch trainer
+    from Trainer import Trainer
+    seed = rng.randint(numpy.iinfo('i').max)
+    trainer = Trainer(seed=seed,options=options)
+    trainer.initComm()
+    # start team 1
+    os.chdir(team1Dir)
+    launch(team1Cmd,False)
+    trainer.waitOnTeam(True) # wait to make sure of team order
+    # start team 2
+    os.chdir(team2Dir)
+    launch(team2Cmd,False)
+    trainer.waitOnTeam(False)
+    # make sure all players are connected
+    trainer.checkIfAllPlayersConnected()
+    trainer.setTeams()
+    # run
+    trainer.run(necProcesses)
+  except KeyboardInterrupt:
+    print 'Exiting for CTRL-C'
+  finally:
+    for p in processes:
+      try:
+        p.send_signal(SIGINT)
+      except:
+        pass
+    #print 'Done killing children (hopefully)'
+    time.sleep(0.1)
+
+if __name__ == '__main__':
+  import sys
+  
+  from optparse import OptionParser
+
+  p = OptionParser('''Usage: ./startHFO.py [team1 [team2]]
+  teams are ut or the ones in the agents directory''')
+  p.add_option('-s','--no-sync',dest='sync',action='store_false',default=True,help='run server in non-sync mode')
+  p.add_option('--headless',dest='headless',action='store_true',default=False,help='run in headless mode')
+  p.add_option('-a','--adhoc',dest='useAdhoc',action='store_true',default=False,help='use an adhoc agent')
+  p.add_option('-d','--adhocDefense',dest='adhocOffense',action='store_false',default=True,help='put the ad hoc agent on defense')
+  p.add_option('-n','--numTrials',dest='numTrials',action='store',type='int',default=-1,help='number of trials to run')
+  p.add_option('-f','--frames',dest='numFrames',action='store',type='int',default=-1,help='number of frames to run for')
+  p.add_option('--offense',dest='numOffense',action='store',type='int',default=4,help='number of offensive players')
+  p.add_option('--defense',dest='numDefense',action='store',type='int',default=4,help='number of defensive players (excluding the goalie)')
+  p.add_option('--learn-actions',dest='numLearnActions',action='store',type='int',default=0,help='number of instances to learn actions instead of the regular behavior')
+
+  options,args = p.parse_args()
+  if len(args) > 2:
+    print 'Incorrect number of arguments'
+    p.parse_args(['--help'])
+    sys.exit(2)
+
+  options.learnActions = (options.numLearnActions > 0)
+    
+  team1 = 'ut'
+  team2 = 'ut'
+
+  if len(args) >= 1:
+    team1 = args[0]
+    if len(args) >= 2:
+      team2 = args[1]
+  seed = int(time.time())
+  rng = numpy.random.RandomState(seed)
+
+  main(team1,team2,rng,options)