Minor updates

bin/Trainer.py

@@ -215,20 +215,23 @@ class Trainer(object):
     assert body[0] == 'referee', 'Expected referee message.'
     _,ts,event = body
     self._frame = int(ts)
+    endOfTrial = False
     if 'GOAL' in event:
       self._numGoals += 1
       self._numGoalFrames += self._frame - self._lastTrialStart
-      event = 'GOAL'
+      endOfTrial = True
     elif event == 'OUT_OF_BOUNDS':
       self._numBallsOOB += 1
+      endOfTrial = True
     elif 'CAPTURED_BY_DEFENSE' in event:
       self._numBallsCaptured += 1
-      event = "CAPTURED_BY_DEFENSE"   # This clears the defender number from the printout below, but it doesn't really matter here. 
+      endOfTrial = True
     elif event == 'OUT_OF_TIME':
       self._numOutOfTime += 1
+      endOfTrial = True
     elif event == 'HFO_FINISHED':
       self._done = True
-    if event in {'GOAL','OUT_OF_BOUNDS','CAPTURED_BY_DEFENSE','OUT_OF_TIME'}:
+    if endOfTrial: 
       self._numTrials += 1
       print 'EndOfTrial: %d / %d %d %s'%\
         (self._numGoals, self._numTrials, self._frame, event)

example/communication_agent.py

@@ -42,9 +42,9 @@ if __name__ == '__main__':
     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'
+      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

@@ -41,10 +41,10 @@ int main(int argc, char** argv) {
     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 " << endl;
+        cout << "captured by defense " << hfo.playerOnBall().unum << endl;
         break;
       case OUT_OF_BOUNDS:
         cout << "out of bounds" << endl;

example/mid_level_kick_agent.cpp

@@ -46,7 +46,6 @@ int main(int argc, char** argv) {
       // Advance the environment and get the game status
       status = hfo.step();
     }
-  
     // Check what the outcome of the episode was
     cout << "Episode " << episode << " ended with status: ";
     switch (status) {
@@ -66,11 +65,6 @@ int main(int argc, char** argv) {
         cout << "Unknown status " << status << endl;
         exit(1);
     }
-
-
-  
-  
-  
   }
   hfo.act(QUIT);
 };

hfo/hfo.py

@@ -170,8 +170,8 @@ class HFOEnvironment(object):
     
     # Get the current game status
     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])
+    status, side, unum = struct.unpack("iii", data)
+    self.player_on_ball = HFO_Player(side,unum)
       
     # Get the next state features
     state_data = self.socket.recv(struct.calcsize('f')*self.numFeatures)

src/HFO.cpp

@@ -248,8 +248,8 @@ void HFOEnvironment::handshakeAgentServer(feature_set_t feature_set) {
     exit(1);
   }
   // Recieve the game status
-  std::vector<int> game_status(3, -1);
-  if (recv(sockfd, &(game_status.front()), 3 * sizeof(int), 0) < 0) {
+  int game_status[3];
+  if (recv(sockfd, &(game_status[0]), 3 * sizeof(int), 0) < 0) {
     perror("[Agent Client] ERROR receiving game status from socket");
     close(sockfd);
     exit(1);
@@ -259,6 +259,8 @@ void HFOEnvironment::handshakeAgentServer(feature_set_t feature_set) {
     close(sockfd);
     exit(1);
   }
+  player_on_ball.side = (SideID)game_status[1];
+  player_on_ball.unum = game_status[2];
   std::cout << "[Agent Client] Handshake complete" << std::endl;
 }
 
@@ -332,14 +334,14 @@ status_t HFOEnvironment::step() {
   say_msg.clear();
 
   // Get the game status
-  std::vector<int> full_status(3,-1);
-  if (recv(sockfd, &(full_status.front()), 3 * sizeof(int), 0) < 0) {
+  int full_status[3];
+  if (recv(sockfd, &(full_status[0]), 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.side = (SideID)full_status[1];
   player_on_ball.unum = full_status[2];
 
   // Get the next game state

src/HFO.hpp

@@ -3,7 +3,6 @@
 
 #include <string>
 #include <vector>
-#include <rcsc/types.h>
 
 namespace hfo {
 
@@ -53,6 +52,12 @@ enum status_t
   OUT_OF_TIME          // Trial has ended due to time limit
 };
 
+enum SideID {
+  RIGHT = -1,
+  NEUTRAL = 0,
+  LEFT = 1
+};
+
 // Configuration of the HFO domain including the team names and player
 // numbers for each team. This struct is populated by ParseConfig().
 struct Config {
@@ -65,7 +70,7 @@ struct Config {
 };
 
 struct Player {
-  rcsc::SideID side;    // SideID is an enum: 1 = LEFT, 0 = NEUTRAL, -1 = RIGHT 
+  SideID side;    
   int unum;
 };
 

src/agent.h

@@ -34,7 +34,6 @@
 #include "feature_extractor.h"
 
 #include <rcsc/player/player_agent.h>
-#include <rcsc/types.h>
 #include <vector>
 
 class Agent : public rcsc::PlayerAgent {
@@ -43,7 +42,7 @@ public:
   virtual ~Agent();
   virtual FieldEvaluator::ConstPtr getFieldEvaluator() const;
 
-  // Get the current game status
+  // Get the current game status, and the side and uniform number of the player holding the ball
   static std::vector<int> getGameStatus(const rcsc::AudioSensor& audio_sensor,
                                      long& lastTrainerMessageTime);