took HFO from pr9

bin/HFO

@@ -2,7 +2,6 @@
 # encoding: utf-8
 
 import subprocess, os, time, numpy, sys
-from signal import SIGKILL
 
 # Global list of all/essential running processes
 processes, necProcesses = [], []
@@ -11,37 +10,26 @@ SERVER_BIN = 'rcssserver'
 # Command to run the monitor. Edit as needed.
 MONITOR_BIN = 'soccerwindow2'
 
-def getAgentDirCmd(binary_dir, teamname, server_port=6000, coach_port=6002,
-                   logDir='log', record=False):
-  """ Returns the team name, command, and directory to run a team. """
-  cmd = 'start.sh -t %s -p %i -P %i --log-dir %s'%(teamname, server_port,
-                                                   coach_port, logDir)
-  if record:
-    cmd += ' --record'
-  cmd = os.path.join(binary_dir, cmd)
-  return teamname, cmd
-
-def launch(cmd, necessary=True, supressOutput=True, name='Unknown'):
+def launch(cmd, name = 'Unknown', necessary = True, supressOutput = True):
   """Launch a process.
 
   Appends to list of processes and (optionally) necProcesses if
   necessary flag is True.
 
   Returns: The launched process.
-
   """
   kwargs = {}
   if supressOutput:
-    kwargs = {'stdout':open('/dev/null','w'),'stderr':open('/dev/null','w')}
-  p = subprocess.Popen(cmd.split(' '),shell=False,**kwargs)
+    kwargs = {'stdout': open('/dev/null', 'w'),
+              'stderr': open('/dev/null', 'w')}
+  p = subprocess.Popen(cmd.split(' '), shell = False, **kwargs)
   processes.append(p)
   if necessary:
     necProcesses.append([p,name])
   return p
 
 def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
-  """Sets up the teams, launches the server and monitor, starts the
-  trainer.
+  """Sets up the teams, launches the server and monitor, starts the trainer.
   """
   if args.seed:
     print '[start.py] Seeding RNG with seed: ', args.seed
@@ -65,10 +53,6 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
                     args.logDir, args.logDir,
                     args.sync,
                     args.fullstate, args.fullstate)
-  team1, team1Cmd = getAgentDirCmd(binary_dir, team1, server_port, coach_port,
-                                   args.logDir, args.record)
-  team2, team2Cmd = getAgentDirCmd(binary_dir, team2, server_port, coach_port,
-                                   args.logDir, args.record)
   try:
     # Launch the Server
     server = launch(serverCommand + serverOptions, name='server')
@@ -85,27 +69,23 @@ def main(args, team1='left', team2='right', rng=numpy.random.RandomState()):
     trainer = Trainer(args=args, rng=rng, server_port=server_port,
                       coach_port=coach_port)
     trainer.initComm()
-    # Start Team1
-    launch(team1Cmd,False)
-    trainer.waitOnTeam(True) # wait to make sure of team order
-    # Start Team2
-    launch(team2Cmd,False)
-    trainer.waitOnTeam(False)
-    # Make sure all players are connected
-    trainer.checkIfAllPlayersConnected()
-    trainer.setTeams()
-    # Run HFO
+    # Add Team1
+    trainer.addTeam(team1)
+    # Add Team2
+    trainer.addTeam(team2)
+    # Run
     trainer.run(necProcesses)
   except KeyboardInterrupt:
     print '[start.py] Exiting for CTRL-C'
   finally:
     print '[start.py] Cleaning up server and other processes'
-    for p in processes:
+    for p in reversed(processes):
       try:
-        p.send_signal(SIGKILL)
+        p.terminate()
+        time.sleep(0.1)
+        p.kill()
       except:
         pass
-      time.sleep(0.1)
 
 def parseArgs():
   import argparse
@@ -145,10 +125,26 @@ def parseArgs():
   p.add_argument('--seed', dest='seed', type=int,
                  help='Seed the trainer\'s RNG. Default: time.')
   args = p.parse_args()
-  assert args.offenseAgents + args.offenseNPCs in xrange(0, 11), \
-    'Invalid number of offensive players: (choose from [0,10])'
-  assert args.defenseAgents + args.defenseNPCs in xrange(0, 12), \
-    'Invalid number of defensive players: (choose from [0,11])'
+  if args.offenseAgents not in xrange(0, 11):
+    p.error('argument --offense-agents: invalid choice: '\
+            + str(args.offenseAgents) + ' (choose from [0-10])')
+  if args.offenseNPCs not in xrange(0, 11):
+    p.error('argument --offense-npcs: invalid choice: '\
+            + str(args.offenseNPCs) + ' (choose from [0-10])')
+  if args.defenseAgents not in xrange(0, 12):
+    p.error('argument --defense-agents: invalid choice: '\
+            + str(args.defenseAgents) + ' (choose from [0-11])')
+  if args.defenseNPCs not in xrange(0, 12):
+    p.error('argument --offense-npcs: invalid choice: '\
+            + str(args.defenseNPCs) + ' (choose from [0-11])')
+  if args.offenseAgents + args.offenseNPCs not in xrange(1, 11):
+    p.error('Offense players (offense-agents + offense-npcs): '\
+            'invalid choice: ' + str(args.offenseAgents + args.offenseNPCs) +\
+            ' (choose from [1,10])')
+  if args.defenseAgents + args.defenseNPCs not in xrange(0, 12):
+    p.error('Defense players (defense-agents + defense-npcs): '\
+            'invalid choice: ' + str(args.defenseAgents + args.defenseNPCs) +\
+            ' (choose from [0,11])')
   return args
 
 if __name__ == '__main__':