#!/usr/bin/env python
# encoding: utf-8
import subprocess, os, time, numpy, sys
# Global list of all/essential running processes
processes, necProcesses = [], []
# Command to run the rcssserver. Edit as needed.
SERVER_BIN = 'rcssserver'
# Command to run the monitor. Edit as needed.
MONITOR_BIN = 'soccerwindow2'
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)
processes.append(p)
if necessary:
necProcesses.append([p,name])
return p
def main(args):
"""Sets up the teams, launches the server and monitor, starts the trainer.
"""
if args.logging and not os.path.exists(args.logDir):
os.makedirs(args.logDir)
num_agents = args.offenseAgents + args.defenseAgents
binary_dir = os.path.dirname(os.path.realpath(__file__))
server_port = args.port
coach_port = args.port + 1
olcoach_port = args.port + 2
serverCommand = os.path.join(binary_dir, SERVER_BIN)
serverOptions = ' server::port=%i server::coach_port=%i ' \
'server::olcoach_port=%i server::coach=1 ' \
'server::game_logging=%i server::text_logging=%i ' \
'server::hfo_logging=%i server::hfo_log_dir=%s ' \
'server::game_log_dir=%s server::text_log_dir=%s '\
'server::synch_mode=%i server::hfo=1 ' \
'server::fullstate_l=%i server::fullstate_r=%i ' \
'server::coach_w_referee=1 server::hfo_max_trial_time=%i ' \
'server::hfo_max_trials=%i server::hfo_max_frames=%i ' \
'server::hfo_offense_on_ball=%i server::random_seed=%i ' \
'server::hfo_max_untouched_time=%i ' \
'server::say_msg_size=%i' \
%(server_port, coach_port, olcoach_port,
args.logging, args.logging, args.logging,
args.logDir, args.logDir, args.logDir,
args.sync, args.fullstate, args.fullstate,
args.maxFramesPerTrial, args.numTrials, args.numFrames,
args.offenseOnBall, args.seed, args.maxUntouchedTime,
args.messageSize)
# server::record_messages=on -- useful for debug
try:
# Launch the Server
server = launch(serverCommand + serverOptions, name='server', supressOutput=True)
time.sleep(0.2)
assert server.poll() is None,\
'[start.py] Failed to launch Server with command: \"%s\"' \
'\n\nAnother rcssserver may be running on the same port?' \
'\nTry: \"killall -9 rcssserver\"' \
%(serverCommand + serverOptions)
if not args.headless:
monitorCommand = os.path.join(binary_dir, MONITOR_BIN)
monitorOptions = ' --connect --port=%i'%(server_port)
launch(monitorCommand + monitorOptions, name='monitor')
# Launch the Trainer
from Trainer import Trainer
trainer = Trainer(args=args, server_port=server_port, coach_port=coach_port)
trainer.initComm()
# Run
trainer.run(necProcesses, args.offenseTeam, args.defenseTeam)
except KeyboardInterrupt:
print '[start.py] Exiting for CTRL-C'
finally:
print '[start.py] Cleaning up server and other processes'
for p in reversed(processes):
try:
p.terminate()
time.sleep(0.1)
p.kill()
except:
pass
def parseArgs():
import argparse
team_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'teams')
installed_teams = os.listdir(team_dir)
p = argparse.ArgumentParser(description='Start Half Field Offense.',
formatter_class=argparse.RawTextHelpFormatter)
p.add_argument('--headless', dest='headless', action='store_true',
help='Run without a monitor.')
p.add_argument('--trials', dest='numTrials', type=int, default=-1,
help='Number of trials to run.\n'\
'Negative values mean unlimited. Default: -1.')
p.add_argument('--frames', dest='numFrames', type=int, default=-1,
help='Number of frames to run for.\n'\
'Negative values mean unlimited. Default: -1.')
p.add_argument('--frames-per-trial', dest='maxFramesPerTrial', type=int,
default=1000, help='Max number of frames per trial.\n'\
'Negative values mean unlimited. Default: 1000.')
p.add_argument('--untouched-time', dest='maxUntouchedTime', type=int,
default=100, help='Ends trial if ball is untouched for this long.\n'\
'Negative values mean unlimited. Default: 100.')
p.add_argument('--offense-agents', dest='offenseAgents', type=int, default=0,
help='Number of offensive agents. Default: 0.')
p.add_argument('--defense-agents', dest='defenseAgents', type=int, default=0,
help='Number of defensive agents. Default: 0.')
p.add_argument('--offense-npcs', dest='offenseNPCs', type=int, default=0,
help='Number of offensive uncontrolled players. Default: 0.')
p.add_argument('--defense-npcs', dest='defenseNPCs', type=int, default=0,
help='Number of defensive uncontrolled players. Default: 0.')
p.add_argument('--offense-team', dest='offenseTeam', type=str, default='base',
help='Offense team binary. Options: '+str(installed_teams)+'. Default: base.')
p.add_argument('--defense-team', dest='defenseTeam', type=str, default='base',
help='Defense team binary. Options: '+str(installed_teams)+'. Default: base.')
p.add_argument('--no-sync', dest='sync', action='store_false', default=True,
help='Run server in non-sync mode.')
p.add_argument('--port', dest='port', type=int, default=6000,
help='Agent server\'s port. Default: 6000.\n'\
'rcssserver, coach, and ol_coach will be '\
'incrementally allocated the following ports.')
p.add_argument('--no-logging', dest='logging', action='store_false',
default=True, help='Disable rcssserver logging.')
p.add_argument('--log-dir', dest='logDir', default='log/',
help='Directory to store logs. Default: log/')
p.add_argument('--record', dest='record', action='store_true',
help='Record logs of states and actions.')
p.add_argument('--offense-on-ball', dest='offenseOnBall', type=int,
default=0, help='Ball given to the player represented by the value.\n'\
'If value greater than the number of offense players, '\
'ball given to a random offense player.\n'\
'If value non-positive, ball is not given to any player.\n'\
'Default: 0.')
p.add_argument('--fullstate', dest='fullstate', action='store_true',
help='Server provides full-state information to agents.')
p.add_argument('--seed', dest='seed', type=int, default=-1,
help='Seed the server\'s RNG. Default: time.')
p.add_argument('--message-size', dest='messageSize', type=int, default=1000,
help='Message size limit for communication')
args = p.parse_args()
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])')
if args.offenseTeam not in installed_teams:
p.error('Unrecognized offense team: ' + str(args.offenseTeam))
if args.defenseTeam not in installed_teams:
p.error('Unrecognized defense team: ' + str(args.defenseTeam))
return args
if __name__ == '__main__':
main(parseArgs())