Merge branch 'master' into add_preprocess_action - avoid rebase

tests/test_with_server_fullstate.py

+"""A few tests using a server (and --fullstate so that know will 'see' uniform numbers)"""
+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 ~5 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",
+                  "--fullstate"]
+    
+    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(0,5):
+            if int(state[12]) == 1: # can kick the ball
+                hfo_env.act(hfo.DRIBBLE)
+            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()