Updated python interface to include trajectory recording.

hfo/hfo.py

@@ -52,7 +52,7 @@ hfo_lib.HFO_new.restype = c_void_p
 hfo_lib.HFO_del.argtypes = [c_void_p]
 hfo_lib.HFO_del.restype = None
 hfo_lib.connectToServer.argtypes = [c_void_p, c_int, c_char_p, c_int,
-                                    c_int, c_char_p, c_char_p, c_bool]
+                                    c_int, c_char_p, c_char_p, c_bool, c_char_p]
 hfo_lib.connectToServer.restype = None
 hfo_lib.getStateSize.argtypes = [c_void_p]
 hfo_lib.getStateSize.restype = c_int
@@ -89,10 +89,24 @@ class HFOEnvironment(object):
                       server_port=6000,
                       server_addr='localhost',
                       team_name='base_left',
-                      play_goalie=False):
-    """ Connect to the server """
+                      play_goalie=False,
+                      record_dir=''):
+    """
+      Connect to the server on the specified port. The
+      following information is provided by the ./bin/HFO
+
+      feature_set: High or low level state features
+      config_dir: Config directory. Typically HFO/bin/teams/base/config/
+      uniform_number: player's uniform number.
+      server_port: port to connect to server on
+      server_addr: address of server
+      team_name: Name of team to join.
+      play_goalie: is this player the goalie
+      record_dir: record agent's states/actions/rewards to this directory
+    """
     hfo_lib.connectToServer(self.obj, feature_set, config_dir, uniform_number,
-                            server_port, server_addr, team_name, play_goalie)
+                            server_port, server_addr, team_name, play_goalie,
+                            record_dir)
 
   def getStateSize(self):
     """ Returns the number of state features """

hfo/hfo_c_wrapper.h

@@ -16,10 +16,11 @@ extern "C" {
                        int server_port,
                        char* server_addr,
                        char* team_name,
-                       bool play_goalie) {
+                       bool play_goalie,
+                       char* record_dir) {
     return hfo->connectToServer(feature_set, config_dir, uniform_number,
                                 server_port, server_addr, team_name,
-                                play_goalie);
+                                play_goalie, record_dir);
   }
   int getStateSize(hfo::HFOEnvironment *hfo) { return hfo->getState().size(); }
   void getState(hfo::HFOEnvironment *hfo, float *state_data) {

src/HFO.hpp

@@ -26,6 +26,7 @@ class HFOEnvironment {
    * server_addr: address of server
    * team_name: Name of team to join.
    * play_goalie: is this player the goalie
+   * record_dir: record agent's states/actions/rewards to this directory
    */
   void connectToServer(feature_set_t feature_set=HIGH_LEVEL_FEATURE_SET,
                        std::string config_dir="bin/teams/base/config/formations-dt",