Commit e74e1826 authored by drallensmith's avatar drallensmith

Initial version of Python defense agent

parent cfdad29c
#!/usr/bin/env python
"""
This is a hand-coded defense agent, using hand_coded_defense_agent.cpp as a starting point,
that should be able to play, for instance, a 2v2 game againt 2 offense npcs. It requires a goal
keeper/goalie.
"""
from __future__ import print_function
# encoding: utf-8
#MODIFIED#
# First Start the server: $> bin/start.py
import argparse
import itertools
import math
import random
try:
import hfo
except ImportError:
print('Failed to import hfo. To install hfo, in the HFO directory'\
' run: \"pip install .\"')
exit()
GOAL_POS_X = 1.0
GOAL_POS_Y = 0.0
# below - from hand_coded_defense_agent.cpp
params = {'KICK_DIST':1.504052352, 'OPEN_AREA_HIGH_LIMIT_X':0.747311440447,
'TACKLE_DIST':1.613456553}
HALF_FIELD_WIDTH = 68 # y coordinate -34 to 34 (-34 = bottom 34 = top)
HALF_FIELD_LENGTH = 52.5 # x coordinate 0 to 52.5 (0 = goalline 52.5 = center)
def get_dist_normalized(ref_x, ref_y, src_x, src_y):
return math.sqrt(math.pow((ref_x - src_x),2) +
math.pow(((HALF_FIELD_WIDTH/HALF_FIELD_LENGTH)*(ref_y - src_y)),2))
##def is_kickable(ball_pos_x, ball_pos_y, kicker_pos_x, kicker_pos_y):
## return get_dist_normalized(ball_pos_x, ball_pos_y,
## kicker_pos_x, kicker_pos_y) < params['KICK_DIST']
def is_tackleable(agent_pos_x, agent_pos_y, opp_pos_x, opp_pos_y):
return get_dist_normalized(agent_pos_x, agent_pos_y,
opp_pos_x, opp_pos_y) < params['TACKLE_DIST']
def ball_moving_toward_goal(ball_pos_x, ball_pos_y, old_ball_pos_x, old_ball_pos_y):
return get_dist_normalized(ball_pos_x, ball_pos_y,
GOAL_POS_X, GOAL_POS_Y) < get_dist_normalized(old_ball_pos_x,
old_ball_pos_y,
GOAL_POS_X,
GOAL_POS_Y)
def get_sorted_opponents(state_vec, num_opponents, num_teammates, pos_x, pos_y):
"""
Returns a list of tuple(unum, dist, opp_pos_x, opp_pos_y),
sorted in increasing order of dist from the given position
"""
unum_list = []
for i in range(num_opponents):
unum = state_vec[9+(i*3)+(6*num_teammates)+3]
if unum > 0:
opp_pos_x = state_vec[9+(i*3)+(6*num_teammates)+1]
opp_pos_y = state_vec[9+(i*3)+(6*num_teammates)+2]
dist = get_dist_normalized(pos_x, pos_y, opp_pos_x, opp_pos_y)
unum_list.append(tuple(unum, dist, opp_pos_x, opp_pos_y))
# otherwise, unknown
if len(unum_list) > 1:
return sorted(unum_list, key=lambda x: x[1])
return unum_list
def is_in_open_area(pos_x, ignored_pos_y):
return pos_x >= params['OPEN_AREA_HIGH_LIMIT_X']
def do_defense_action(state_vec, hfo_env,
num_opponents, num_teammates,
old_ball_pos_x, old_ball_pos_y):
"""Figures out and does the (hopefully) best defense action."""
min_vec_size = 10 + (6*num_teammates) + (3*num_opponents)
if (len(state_vec) < min_vec_size):
raise LookupError("Feature vector length is {0:d} not {1:d}".format(len(state_vec),
min_vec_size))
agent_pos_x = state_vec[0]
agent_pos_y = state_vec[1]
ball_pos_x = state_vec[3]
ball_pos_y = state_vec[4]
ball_sorted_list = get_sorted_opponents(state_vec, num_opponents, num_teammates,
pos_x=ball_pos_x, pos_y=ball_pos_y)
if not ball_sorted_list: # unknown opponent positions/unums
hfo_env.act(hfo.MOVE)
return
is_tackleable_opp = is_tackleable(agent_pos_x, agent_pos_y,
ball_sorted_list[0][2], ball_sorted_list[0][3])
ball_toward_goal = ball_moving_toward_goal(ball_pos_x, ball_pos_y,
old_ball_pos_x, old_ball_pos_y)
if state_vec[5] > 0: # kickable distance of player
if ball_sorted_list[0][1] < params['KICK_DIST']:
hfo_env.act(hfo.MOVE) # will do tackle
elif ball_toward_goal:
hfo_env.act(hfo.INTERCEPT)
elif is_tackleable_opp:
hfo_env.act(hfo.MOVE) # will do tackle
else:
hfo_env.act(hfo.GO_TO_BALL)
return
if ball_sorted_list[0][1] < params['KICK_DIST']:
goal_sorted_list = get_sorted_opponents(state_vec, num_opponents, num_teammates,
pos_x=GOAL_POS_X, pos_y=GOAL_POS_Y)
if goal_sorted_list[0][0] != ball_sorted_list[0][0]: # top in each are opponents to worry about
if is_in_open_area(ball_sorted_list[0][2],ball_sorted_list[0][3]):
hfo_env.act(hfo.MARK_PLAYER, goal_sorted_list[0][0])
elif get_dist_normalized(agent_pos_x, agent_pos_y,
ball_pos_x, ball_pos_y) < ball_sorted_list[0][1]:
# odd; why not kickable above?
if ball_toward_goal:
hfo_env.act(hfo.INTERCEPT)
elif is_tackleable_opp:
hfo_env.act(hfo.MOVE) # will do tackle
else:
hfo_env.act(hfo.GO_TO_BALL)
elif is_tackleable_opp:
hfo_env.act(hfo.MOVE) # will do tackle
else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
elif is_tackleable_opp:
hfo_env.act(hfo.MOVE) # will do tackle
else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
return
if (not is_in_open_area(ball_pos_x, ball_pos_y)) and ball_toward_goal:
hfo_env.act(hfo.INTERCEPT)
return
if get_dist_normalized(agent_pos_x, agent_pos_y, ball_pos_x, ball_pos_y) < ball_sorted_list[0][1]:
if ball_toward_goal:
hfo_env.act(hfo.INTERCEPT)
else:
hfo_env.act(hfo.GO_TO_BALL)
return
goal_sorted_list = get_sorted_opponents(state_vec, num_opponents, num_teammates,
pos_x=GOAL_POS_X, pos_y=GOAL_POS_Y)
if is_in_open_area(goal_sorted_list[0][2], goal_sorted_list[0][3]):
hfo_env.act(hfo.MOVE)
else:
hfo_env.act(hfo.REDUCE_ANGLE_TO_GOAL)
return
def do_random_defense_action(state, hfo_env):
if state[5] > 0: # kickable
if random.random() < 0.5:
hfo_env.act(hfo.INTERCEPT)
else:
hfo_env.act(hfo.MOVE)
else:
hfo_env.act(random.choose(hfo.MOVE,hfo.MOVE,
hfo.REDUCE_ANGLE_TO_GOAL,hfo.REDUCE_ANGLE_TO_GOAL,
hfo.GO_TO_BALL,hfo.INTERCEPT))
return
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--port', type=int, default=6000, help="Server port")
parser.add_argument('--seed', type=int, default=None,
help="Python randomization seed; uses python default if 0 or not given")
parser.add_argument('--epsilon', type=float, default=0,
help="Probability of a random action, to adjust difficulty")
parser.add_argument('--record', action='store_true',
help="If doing HFO --record")
parser.add_argument('--rdir', type=str, default='log/',
help="Set directory to use if doing --record")
args=parser.parse_args()
if args.seed:
random.seed(args.seed)
hfo_env = hfo.HFOEnvironment()
if args.record:
hfo_env.connectToServer(hfo.HIGH_LEVEL_FEATURE_SET,
'bin/teams/base/config/formations-dt', args.port,
'localhost', 'base_right', False,
record_dir=args.rdir)
else:
hfo_env.connectToServer(hfo.HIGH_LEVEL_FEATURE_SET,
'bin/teams/base/config/formations-dt', args.port,
'localhost', 'base_right', False)
numTeammates = hfo_env.getNumTeammates()
numOpponents = hfo_env.getNumOpponents()
if args.seed:
if args.epsilon > 0:
print("Python randomization seed: {0:d}".format(args.seed))
else:
print("Python randomization seed useless without --epsilon >0")
if args.epsilon > 0:
print("Using epsilon {0:n}".format(args.epsilon))
for episode in itertools.count():
old_ball_pos_x = 0
old_ball_pos_y = 0
status = hfo.IN_GAME
while status == hfo.IN_GAME:
state = hfo_env.getState()
if (args.epsilon > 0) and (random.random() < args.epsilon):
do_random_defense_action(state, hfo_env)
else:
do_defense_action(state_vec=state, hfo_env=hfo_env,
num_opponents=numOpponents, num_teammates=numTeammates,
old_ball_pos_x=old_ball_pos_x, old_ball_pos_y=old_ball_pos_y)
old_ball_pos_x=state[3]
old_ball_pos_y=state[4]
status=hfo_env.step()
#print(status)
# Quit if the server goes down
if status == hfo.SERVER_DOWN:
hfo_env.act(hfo.QUIT)
exit()
# Check the outcome of the episode
print("Episode {0:d} ended with {1:s}".format(episode,
hfo_env.statusToString(status)))
if __name__ == '__main__':
main()
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