Updating add_preprocess_action vs master

.travis.yml

@@ -14,6 +14,7 @@ install:
        brew install cartr/qt4/qt 
        ;
     fi
+  - sudo pip install nose numpy
 os:
   - linux
   - osx
@@ -23,3 +24,4 @@ compiler:
 script:
   - mkdir build && cd build
   - cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo .. && make -j4 && make install
+  - cd .. && nosetests --exe

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 = 20
 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,REORIENT = list(range(20))
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL,REORIENT = 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
+
+def test_basic():
+    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))
+
+if __name__ == '__main__':
+    test_basic()

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