Updated ref to broadcast last player to touch the ball

bin/Trainer.py

@@ -215,9 +215,10 @@ class Trainer(object):
     assert body[0] == 'referee', 'Expected referee message.'
     _,ts,event = body
     self._frame = int(ts)
-    if event == 'GOAL':
+    if 'GOAL' in event:
       self._numGoals += 1
       self._numGoalFrames += self._frame - self._lastTrialStart
+      event = 'GOAL'
     elif event == 'OUT_OF_BOUNDS':
       self._numBallsOOB += 1
     elif 'CAPTURED_BY_DEFENSE' in event:

example/communication_agent.cpp

@@ -25,7 +25,6 @@ int main(int argc, char** argv) {
   // Play 5 episodes
   for (int episode=0; ; episode++) {
     int step = 0;
-    vector<int> game_status;
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
@@ -41,8 +40,7 @@ int main(int argc, char** argv) {
       // Do something with outgoing communication
       hfo.say("Message");
       // Advance the environment and get the game status
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
       step+=2;
     }
   }

example/communication_agent.py

@@ -37,14 +37,14 @@ if __name__ == '__main__':
       hfo_env.act(HFO_Actions.DASH, 20.0, 0)
       # Do something with outgoing communication
       hfo_env.say('Message')
-      (status, playerIndex) = hfo_env.step() 
+      status = hfo_env.step() 
   
     print 'Episode', episode, 'ended with',
     # Check what the outcome of the episode was
     if status == HFO_Status.GOAL:
       print 'goal'
     elif status == HFO_Status.CAPTURED_BY_DEFENSE:
-      print 'captured by defense', playerIndex
+      print 'captured by defense'
     elif status == HFO_Status.OUT_OF_BOUNDS:
       print 'out of bounds'
     elif status == HFO_Status.OUT_OF_TIME:

example/example_high_level_random_agent.py

@@ -28,7 +28,7 @@ def play_hfo(num):
           hfo_env.act(get_random_action())
         else:
           hfo_env.act(HFO_Actions.MOVE)
-        (status, playerIndex) = hfo_env.step()
+        status = hfo_env.step()
   except:
     pass
   finally:

example/hfo_example_agent.cpp

@@ -17,7 +17,6 @@ int main() {
   hfo.connectToAgentServer(6000, LOW_LEVEL_FEATURE_SET);
   // Play 5 episodes
   for (int episode=0; episode<5; episode++) {
-    vector<int> game_status;
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
@@ -25,8 +24,7 @@ int main() {
       // Perform the dash
       hfo.act(DASH, 20.0);
       // Advance the environment and recieve current game status
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
     }
     // Check what the outcome of the episode was
     cout << "Episode " << episode << " ended with status: ";

example/hfo_example_agent.py

@@ -20,20 +20,20 @@ if __name__ == '__main__':
   # feature set. See feature sets in hfo.py/hfo.hpp.
   hfo.connectToAgentServer(port, HFO_Features.HIGH_LEVEL_FEATURE_SET)
   # Play 5 episodes
-  for episode in xrange(5):
+  for episode in xrange(100):
     status = HFO_Status.IN_GAME
     while status == HFO_Status.IN_GAME:
       # Grab the state features from the environment
       features = hfo.getState()
       # Take an action and get the current game status
       hfo.act(HFO_Actions.DASH, 20.0, 0)
-      (status, playerIndex) = hfo.step()
+      status = hfo.step()
     print 'Episode', episode, 'ended with',
     # Check what the outcome of the episode was
     if status == HFO_Status.GOAL:
-      print 'goal'
+      print 'goal', hfo.playerOnBall().unum
     elif status == HFO_Status.CAPTURED_BY_DEFENSE:
-      print 'captured by defense', playerIndex
+      print 'captured by defense', hfo.playerOnBall().unum 
     elif status == HFO_Status.OUT_OF_BOUNDS:
       print 'out of bounds'
     elif status == HFO_Status.OUT_OF_TIME:

example/high_level_random_agent.cpp

@@ -27,7 +27,6 @@ int main(int argc, char** argv) {
   hfo.connectToAgentServer(port, HIGH_LEVEL_FEATURE_SET);
   // Play 5 episodes
   for (int episode=0; ; episode++) {
-    vector<int> game_status;
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
@@ -35,8 +34,7 @@ int main(int argc, char** argv) {
       // Perform the action
       hfo.act(get_random_high_lv_action());
       // Advance the environment and get the game status
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
     }
 
     // Check what the outcome of the episode was
@@ -46,7 +44,7 @@ int main(int argc, char** argv) {
         cout << "goal" << endl;
         break;
       case CAPTURED_BY_DEFENSE:
-        cout << "captured by defense " << game_status[1] << endl;
+        cout << "captured by defense " << endl;
         break;
       case OUT_OF_BOUNDS:
         cout << "out of bounds" << endl;

example/low_level_random_agent.cpp

@@ -51,7 +51,6 @@ int main(int argc, char** argv) {
   hfo.connectToAgentServer(port, LOW_LEVEL_FEATURE_SET);
   // Play 5 episodes
   for (int episode=0; ; episode++) {
-    vector<int> game_status;
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
@@ -59,8 +58,7 @@ int main(int argc, char** argv) {
       // Perform the action and recieve the current game status
       hfo.act(get_random_low_lv_action(), arg1, arg2);
 
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
     }
   }
 };

example/mid_level_dribble_agent.cpp

@@ -24,7 +24,6 @@ int main(int argc, char** argv) {
   // feature set. See manual for more information on feature sets.
   hfo.connectToAgentServer(port, HIGH_LEVEL_FEATURE_SET);
   for (int episode=0; ; episode++) {
-    vector<int> game_status;
     status_t status = IN_GAME;
     int step = 0;
     while (status == IN_GAME) {
@@ -35,8 +34,7 @@ int main(int argc, char** argv) {
       float target_y = cos((step % 360) * PI/180);
       hfo.act(DRIBBLE_TO, target_x, target_y);
       // Advance the environment and get the game status
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
       step += 2;
     }
   }

example/mid_level_kick_agent.cpp

@@ -22,7 +22,6 @@ int main(int argc, char** argv) {
   // feature set. See manual for more information on feature sets.
   hfo.connectToAgentServer(port, HIGH_LEVEL_FEATURE_SET);
   for (int episode=0; ; episode++) {
-    vector<int> game_status; 
     status_t status = IN_GAME;
     while (status == IN_GAME) {
       // Get the vector of state features for the current state
@@ -45,18 +44,17 @@ int main(int argc, char** argv) {
         hfo.act(INTERCEPT);
       }
       // Advance the environment and get the game status
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
     }
   
     // Check what the outcome of the episode was
     cout << "Episode " << episode << " ended with status: ";
     switch (status) {
       case GOAL:
-        cout << "goal" << endl;
+        cout << "goal " << hfo.playerOnBall().unum << endl;
         break;
       case CAPTURED_BY_DEFENSE:
-        cout << "captured by defense " << game_status[1] << endl;
+        cout << "captured by defense " <<  hfo.playerOnBall().unum << endl;
         break;
       case OUT_OF_BOUNDS:
         cout << "out of bounds" << endl;

example/mid_level_move_agent.cpp

@@ -22,7 +22,6 @@ int main(int argc, char** argv) {
   float target_x = 1.0;
   float target_y = 1.0;
   for (int episode=0; ; episode++) {
-    vector<int> game_status;
     status_t status = IN_GAME;
     if (episode % 2 != 0) {
       target_x *= -1;
@@ -36,8 +35,7 @@ int main(int argc, char** argv) {
       // Perform the action
       hfo.act(MOVE_TO, target_x, target_y);
       // Advance the environment and get the game status
-      game_status = hfo.step();
-      status = (status_t)game_status[0];
+      status = hfo.step();
     }
   }
   hfo.act(QUIT);

hfo/hfo.py

-import socket, struct, thread, time
+import socket, struct, thread, time, collections
 
 class HFO_Features:
   ''' An enum of the possible HFO feature sets. For descriptions see
@@ -30,10 +30,17 @@ class HFO_Actions:
   DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
     MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT = range(15)
 
+
+HFO_Player = collections.namedtuple("HFO_Player", "side unum")    
+
 class HFO_Status:
   ''' Current status of the HFO game. '''
   IN_GAME, GOAL, CAPTURED_BY_DEFENSE, OUT_OF_BOUNDS, OUT_OF_TIME = range(5)
 
+class HFO_SideID:
+  ''' Team side for a player or object''' 
+  RIGHT, NEUTRAL, LEFT = range(-1, 2)
+  
 
 class HFOEnvironment(object):
   ''' The HFOEnvironment is designed to be the main point of contact
@@ -47,6 +54,7 @@ class HFOEnvironment(object):
     self.requested_action = None # Action to execute and parameters
     self.say_msg = ''          # Outgoing message to say
     self.hear_msg = ''         # Incoming heard message
+    self.player_on_ball = None  # Current player holding the ball
 
   def NumParams(self, action_type):
     ''' Returns the number of required parameters for each action type. '''
@@ -117,8 +125,8 @@ class HFOEnvironment(object):
     # Send what we recieved
     self.socket.send(struct.pack("i", self.numFeatures))
     # Get the current game status
-    data = self.socket.recv(struct.calcsize("i")*2)
-    status = struct.unpack("ii", data)[0]
+    data = self.socket.recv(struct.calcsize("iii"))
+    status = struct.unpack("iii", data)[0]
     assert status == HFO_Status.IN_GAME, "Status check failed"
     print '[Agent Client] Handshake complete'
 
@@ -144,6 +152,10 @@ class HFOEnvironment(object):
     ''' Receive incoming communications from other players. '''
     return self.hear_msg
 
+  def playerOnBall(self):
+    ''' Get the current player holding the ball'''
+    return self.player_on_ball
+
   def step(self):
     ''' Indicates the agent is done and the environment should
         progress. Returns the game status after the step'''
@@ -157,9 +169,9 @@ class HFOEnvironment(object):
     self.say_msg = ''
     
     # Get the current game status
-    data = self.socket.recv(struct.calcsize("i") * 2)
-    status = struct.unpack("ii", data)[0]
-    playerIndex = struct.unpack("ii", data)[1]
+    data = self.socket.recv(struct.calcsize("iii"))
+    status = struct.unpack("iii", data)[0]
+    self.player_on_ball = HFO_Player(struct.unpack("iii", data)[1], struct.unpack("iii",data)[2])
       
     # Get the next state features
     state_data = self.socket.recv(struct.calcsize('f')*self.numFeatures)
@@ -176,7 +188,7 @@ class HFOEnvironment(object):
       hearMsgData = self.socket.recv(struct.calcsize('c')*hearMsgLength)
       self.hear_msg = struct.unpack(str(hearMsgLength)+'s', hearMsgData)[0]
     
-    return (status, playerIndex)
+    return status
 
   def cleanup(self):
     ''' Send a quit and close the connection to the agent's server. '''

src/HFO.cpp

@@ -248,13 +248,13 @@ void HFOEnvironment::handshakeAgentServer(feature_set_t feature_set) {
     exit(1);
   }
   // Recieve the game status
-  std::vector<int> game_status(2, -1);
-  if (recv(sockfd, &(game_status.front()), 2 * sizeof(int), 0) < 0) {
+  std::vector<int> game_status(3, -1);
+  if (recv(sockfd, &(game_status.front()), 3 * sizeof(int), 0) < 0) {
     perror("[Agent Client] ERROR receiving game status from socket");
     close(sockfd);
     exit(1);
   }
-  if ((status_t)game_status[0] != IN_GAME) {
+  if (game_status[0] != IN_GAME) {
     std::cout << "[Agent Client] Handshake failed: status check." << std::endl;
     close(sockfd);
     exit(1);
@@ -289,8 +289,12 @@ std::string HFOEnvironment::hear() {
   return hear_msg;
 }
 
-std::vector<int> HFOEnvironment::step() {
-  std::vector<int> game_status(2, -1);
+Player HFOEnvironment::playerOnBall(){
+  return player_on_ball;
+}
+
+status_t HFOEnvironment::step() {
+  status_t game_status;
 
   // Send the action_type
   if (send(sockfd, &requested_action, sizeof(action_t), 0) < 0) {
@@ -328,11 +332,16 @@ std::vector<int> HFOEnvironment::step() {
   say_msg.clear();
 
   // Get the game status
-  if (recv(sockfd, &(game_status.front()), 2 * sizeof(int), 0) < 0) {
+  std::vector<int> full_status(3,-1);
+  if (recv(sockfd, &(full_status.front()), 3 * sizeof(int), 0) < 0) {
     perror("[Agent Client] ERROR receiving game status from socket");
     close(sockfd);
     exit(1);
   }
+  game_status = (status_t)full_status[0];
+  player_on_ball.side = (rcsc::SideID)full_status[1];
+  player_on_ball.unum = full_status[2];
+
   // Get the next game state
   if (recv(sockfd, &(feature_vec.front()), numFeatures * sizeof(float), 0) < 0) {
     perror("[Agent Client] ERROR receiving state features from socket");

src/HFO.hpp

@@ -3,6 +3,7 @@
 
 #include <string>
 #include <vector>
+#include <rcsc/types.h>
 
 namespace hfo {
 
@@ -63,6 +64,11 @@ struct Config {
   std::vector<int> defense_nums; // Defensive player numbers
 };
 
+struct Player {
+  rcsc::SideID side;    // SideID is an enum: 1 = LEFT, 0 = NEUTRAL, -1 = RIGHT 
+  int unum;
+};
+
 class HFOEnvironment {
  public:
   HFOEnvironment();
@@ -92,9 +98,12 @@ class HFOEnvironment {
   virtual void say(const std::string& message);
   virtual std::string hear();
 
+  // Get the current player holding the ball 
+  virtual Player playerOnBall();
+
   // Indicates the agent is done and the environment should
   // progress. Returns the game status after the step
-  virtual std::vector<int> step();
+  virtual status_t step();
 
  protected:
   int numFeatures; // The number of features in this domain
@@ -103,6 +112,7 @@ class HFOEnvironment {
   action_t requested_action; // Action requested
   std::vector<float> action_params; // Action parameters
   std::string say_msg, hear_msg; // Messages to hear/say
+  Player player_on_ball;
 
   // Handshake with the agent server to ensure data is being correctly
   // passed. Also sets the number of features to expect.

src/agent.cpp

@@ -366,23 +366,40 @@ FeatureExtractor* Agent::getFeatureExtractor(feature_set_t feature_set_indx,
 
 std::vector<int> Agent::getGameStatus(const rcsc::AudioSensor& audio_sensor,
                                   long& lastTrainerMessageTime) {
-  
   std::vector<int> status;
   status_t game_status = IN_GAME;
   int playerIndex = -1;   // Keeps track of which defender stopped the shot
+  int playerTeam = 1;     // 1 = offense, -1 = defense, 0 = no possession
   if (audio_sensor.trainerMessageTime().cycle() > lastTrainerMessageTime) {
     const std::string& message = audio_sensor.trainerMessage();
     bool recognized_message = true;
-    if (message.compare("GOAL") == 0) {
+    if (message.find("GOAL") != std::string::npos){
+      playerIndex = atoi((message.substr(message.find("-")+1)).c_str());
+      playerTeam = 1;  
       game_status = GOAL;
     } else if (message.find("CAPTURED_BY_DEFENSE") != std::string::npos) { 
       playerIndex = atoi((message.substr(message.find("-")+1)).c_str());
+      playerTeam = -1;
       game_status = CAPTURED_BY_DEFENSE;
     } else if (message.compare("OUT_OF_BOUNDS") == 0) {
       game_status = OUT_OF_BOUNDS;
     } else if (message.compare("OUT_OF_TIME") == 0) {
       game_status = OUT_OF_TIME;
-    } else {
+    } else if (message.find("IN_GAME") != std::string::npos){
+      switch (message.at(message.find("-")+1)){
+        case 'L':
+          playerTeam = 1;
+          break;
+        case 'R':
+          playerTeam = -1;
+          break;
+        case 'U':
+          playerTeam = 0;
+          break;
+      }
+      playerIndex = atoi((message.substr(message.find("-")+2)).c_str());
+    }
+    else {
       recognized_message = false;
     }
     if (recognized_message) {
@@ -390,6 +407,7 @@ std::vector<int> Agent::getGameStatus(const rcsc::AudioSensor& audio_sensor,
     }
   }
   status.push_back(game_status);
+  status.push_back(playerTeam);
   status.push_back(playerIndex);
   return status;
 }

src/agent.h

@@ -34,6 +34,7 @@
 #include "feature_extractor.h"
 
 #include <rcsc/player/player_agent.h>
+#include <rcsc/types.h>
 #include <vector>
 
 class Agent : public rcsc::PlayerAgent {

src/sample_player.cpp

@@ -269,10 +269,9 @@ SamplePlayer::actionImpl()
             hfo::LOW_LEVEL_FEATURE_SET, num_teammates, num_opponents, playing_offense);
       }
     } else {
-      std::vector<int> full_status =  Agent::getGameStatus(
+      std::vector<int> game_status = Agent::getGameStatus(
           audioSensor(), lastTrainerMessageTime);
-      hfo::status_t game_status = (hfo::status_t)full_status[0];
-      elog.addText(Logger::WORLD, "GameStatus %d", game_status);
+      elog.addText(Logger::WORLD, "GameStatus %d", game_status[0]);
       elog.flush();
       feature_extractor->ExtractFeatures(this->world());
       feature_extractor->LogFeatures();