Merge pull request #4 from CLSFramework/thrift-grpc

fix trainer bugs

Author: naderzare

src/grpc-client/grpc_client_trainer.cpp

@@ -3,6 +3,7 @@
 
 #include <rcsc/player/say_message_builder.h>
 #include <rcsc/common/player_param.h>
+#include "grpc-client/state_generator.h"
 
 #include <chrono>
 #include <rcsc/common/logger.h>
@@ -14,8 +15,8 @@ using std::chrono::milliseconds;
 #define DEBUG
 
 #ifdef DEBUG
-#define LOG(x) std::cout << x << std::endl
-#define LOGV(x) std::cout << #x << ": " << x << std::endl
+#define LOG(x) std::cout << "Trainer: " << x << std::endl
+#define LOGV(x) std::cout << "Trainer: " << #x << ": " << x << std::endl
 #else
 #define LOG(x)
 #define LOGV(x)
@@ -277,8 +278,8 @@ void GrpcClientTrainer::getActions()
 State GrpcClientTrainer::generateState() const
 {
     auto &wm = M_agent->world();
-    // WorldModel * worldModel = StateGenerator::convertCoachWorldModel(wm);
+    protos::WorldModel * worldModel = StateGenerator::convertCoachWorldModel(wm);
     State state;
-    // state.set_allocated_world_model(worldModel);
+    state.set_allocated_world_model(worldModel);
     return state;
 }

src/grpc-client/state_generator.cpp

@@ -272,7 +272,10 @@ void StateGenerator::updatePlayerObject(protos::Player *p, const rcsc::CoachPlay
     p->set_is_kicking(player->isKicking());
     p->set_ball_reach_steps(player->ballReachStep());
     p->set_is_tackling(player->isTackling());
-    p->set_type_id(player->playerTypePtr()->id());
+    if (player->playerTypePtr() != nullptr)
+        p->set_type_id(player->playerTypePtr()->id());
+    else
+        p->set_type_id(0);
 }
 
 /**
@@ -475,19 +478,23 @@ protos::WorldModel *StateGenerator::convertWorldModel(const rcsc::WorldModel &wm
  */
 protos::WorldModel *StateGenerator::convertCoachWorldModel(const rcsc::CoachWorldModel &wm)
 {
-    auto *res = new WorldModel();
+    auto *res = new protos::WorldModel();
     res->set_allocated_our_team_name(new std::string(wm.ourTeamName()));
     res->set_allocated_their_team_name(new std::string(wm.theirTeamName()));
     res->set_our_side(convertSide(wm.ourSide()));
     res->set_last_set_play_start_time(wm.lastSetPlayStartTime().cycle());
     res->set_allocated_ball(convertBall(wm.ball()));
     for (auto player : wm.teammates())
     {
+        if (player == nullptr)
+            continue;
         auto p = res->add_teammates();
         updatePlayerObject(p, player);
     }
     for (auto player : wm.opponents())
     {
+        if (player == nullptr)
+            continue;
         auto p = res->add_opponents();
         updatePlayerObject(p, player);
     }

src/train.sh.in

@@ -135,6 +135,8 @@ fi
 #if [ "${usecoach}" = "true" ]; then
 #  $coach -h $host -t $teamname &
 #fi
+$player ${OPT} -n 1 --rpc-type ${rpc_type} &
+$sleepprog $sleeptime
 trainer_opt="-h $host -t $teamname"
 trainer_opt="${trainer_opt} --g-port ${g_port}"
 trainer_opt="${trainer_opt} --rpc-type ${rpc_type}"

src/trainer/sample_trainer.cpp

@@ -138,8 +138,14 @@ SampleTrainer::actionImpl()
     while (M_rpc_client->isConnected() == false)
     {
         std::cout<<"Connecting to GRPC server..."<<std::endl;
-        connectedToGrpcServer = M_rpc_client->connectToGrpcServer();
-        if (connectedToGrpcServer == false) {
+        try{
+            connectedToGrpcServer = M_rpc_client->connectToGrpcServer();
+            if (connectedToGrpcServer == false) {
+                std::this_thread::sleep_for(std::chrono::seconds(1));
+            }
+        }
+        catch (const std::exception& e){
+            std::cerr << "Error: " << e.what() << std::endl;
             std::this_thread::sleep_for(std::chrono::seconds(1));
         }
     }