class BotManager:
def __init__(self, terminate_request_event, termination_complete_event,
reload_request_event, bot_configuration, name, team, index,
agent_class_wrapper, agent_metadata_queue,
match_config: MatchConfig, matchcomms_root: URL):
"""
:param terminate_request_event: an Event (multiprocessing) which will be set from the outside when the program is trying to terminate
:param termination_complete_event: an Event (multiprocessing) which should be set from inside this class when termination has completed successfully
:param reload_request_event: an Event (multiprocessing) which will be set from the outside to force a reload of the agent
:param reload_complete_event: an Event (multiprocessing) which should be set from inside this class when reloading has completed successfully
:param bot_configuration: parameters which will be passed to the bot's constructor
:param name: name which will be passed to the bot's constructor. Will probably be displayed in-game.
:param team: 0 for blue team or 1 for orange team. Will be passed to the bot's constructor.
:param index: The player index, i.e. "this is player number <index>". Will be passed to the bot's constructor.
Can be used to pull the correct data corresponding to the bot's car out of the game tick packet.
:param agent_class_wrapper: The ExternalClassWrapper object that can be used to load and reload the bot
:param agent_metadata_queue: a Queue (multiprocessing) which expects to receive AgentMetadata once available.
:param match_config: Describes the match that is being played.
:param matchcomms_root: The server to connect to if you want to communicate to other participants in the match.
"""
self.terminate_request_event = terminate_request_event
self.termination_complete_event = termination_complete_event
self.reload_request_event = reload_request_event
self.bot_configuration = bot_configuration
self.name = name
self.team = team
self.index = index
self.agent_class_wrapper = agent_class_wrapper
self.agent_metadata_queue = agent_metadata_queue
self.logger = get_logger('bot' + str(self.index))
self.game_interface = GameInterface(self.logger)
self.last_chat_time = time.time()
self.chat_counter = 0
self.reset_chat_time = True
self.game_tick_packet = None
self.bot_input = None
self.ball_prediction = None
self.rigid_body_tick = None
self.match_config = match_config
self.matchcomms_root = matchcomms_root
self.last_message_index = 0
self.agent = None
self.agent_class_file = None
self.last_module_modification_time = 0
def send_quick_chat_from_agent(self, team_only, quick_chat):
"""
Passes the agents quick chats to the game, and also to other python bots.
This does perform limiting.
You are limited to 5 quick chats in a 2 second period starting from the first chat.
This means you can spread your chats out to be even within that 2 second period.
You could spam them in the first little bit but then will be throttled.
"""
# Send the quick chat to the game
rlbot_status = send_quick_chat_flat(self.game_interface, self.index,
self.team, team_only, quick_chat)
if rlbot_status == RLBotCoreStatus.QuickChatRateExceeded:
self.logger.debug('quick chat disabled')
def load_agent(self):
"""
Loads and initializes an agent using instance variables, registers for quick chat and sets render functions.
:return: An instance of an agent, and the agent class file.
"""
agent_class = self.agent_class_wrapper.get_loaded_class()
self.agent = agent_class(self.name, self.team, self.index)
self.agent.init_match_config(self.match_config)
self.agent.load_config(
self.bot_configuration.get_header("Bot Parameters"))
self.update_metadata_queue()
self.set_render_manager()
self.agent_class_file = self.agent_class_wrapper.python_file
self.agent._register_quick_chat(self.send_quick_chat_from_agent)
self.agent._register_field_info(self.get_field_info)
self.agent._register_set_game_state(self.set_game_state)
self.agent._register_ball_prediction(self.get_ball_prediction)
self.agent._register_ball_prediction_struct(
self.get_ball_prediction_struct)
self.agent._register_get_rigid_body_tick(self.get_rigid_body_tick)
self.agent._register_match_settings_func(self.get_match_settings)
self.agent.matchcomms_root = self.matchcomms_root
while not self.is_valid_field_info():
time.sleep(0.1)
# Once all engine setup is done, do the agent-specific initialization, if any:
self.agent.initialize_agent()
def set_render_manager(self):
"""
Sets the render manager for the agent.
:param agent: An instance of an agent.
"""
rendering_manager = self.game_interface.renderer.get_rendering_manager(
self.index, self.team)
self.agent._set_renderer(rendering_manager)
def update_metadata_queue(self):
"""
Adds a new instance of AgentMetadata into the `agent_metadata_queue` using `agent` data.
:param agent: An instance of an agent.
"""
pids = {os.getpid(), *self.agent.get_extra_pids()}
helper_process_request = self.agent.get_helper_process_request()
self.agent_metadata_queue.put(
AgentMetadata(self.index, self.name, self.team, pids,
helper_process_request))
def reload_agent(self):
"""
Reloads the agent. Can throw exceptions. External classes should use reload_event.set() instead.
"""
self.logger.info('Reloading Agent: ' + self.agent.name)
self.agent_class_wrapper.reload()
old_agent = self.agent
self.load_agent()
self.retire_agent(
old_agent) # We do this after load_agent as load_agent might fail.
def run(self):
"""
Loads interface for RLBot, prepares environment and agent, and calls the update for the agent.
"""
self.logger.debug('initializing agent')
self.game_interface.load_interface()
self.prepare_for_run()
# Create Ratelimiter
rate_limit = rate_limiter.RateLimiter(
GAME_TICK_PACKET_POLLS_PER_SECOND)
last_tick_game_time = None # What the tick time of the last observed tick was
last_call_real_time = datetime.now() # When we last called the Agent
# Get bot module
self.load_agent()
self.last_module_modification_time = self.check_modification_time(
os.path.dirname(self.agent_class_file))
# Run until main process tells to stop, or we detect Ctrl+C
try:
while not self.terminate_request_event.is_set():
self.pull_data_from_game()
# game_tick_packet = self.game_interface.get
# Read from game data shared memory
# Run the Agent only if the game_info has updated.
tick_game_time = self.get_game_time()
should_call_while_paused = datetime.now(
) - last_call_real_time >= MAX_AGENT_CALL_PERIOD
if tick_game_time != last_tick_game_time or should_call_while_paused:
last_tick_game_time = tick_game_time
last_call_real_time = datetime.now()
# Reload the Agent if it has been modified or if reload is requested from outside.
if self.agent.is_hot_reload_enabled():
self.hot_reload_if_necessary()
try:
chat_messages = self.game_interface.receive_chat(
self.index, self.team, self.last_message_index)
for i in range(0, chat_messages.MessagesLength()):
message = chat_messages.Messages(i)
if len(self.match_config.player_configs
) > message.PlayerIndex():
self.agent.handle_quick_chat(
index=message.PlayerIndex(),
team=self.match_config.player_configs[
message.PlayerIndex()].team,
quick_chat=message.QuickChatSelection())
else:
self.logger.debug(
f"Skipping quick chat delivery for {message.MessageIndex()} because "
"we don't recognize the player index. Probably stale."
)
self.last_message_index = message.MessageIndex()
except EmptyDllResponse:
self.logger.debug("Empty response when reading chat!")
# Call agent
try:
self.call_agent(
self.agent,
self.agent_class_wrapper.get_loaded_class())
except Exception as e:
self.logger.error("Call to agent failed:\n" +
traceback.format_exc())
# Ratelimit here
rate_limit.acquire()
except KeyboardInterrupt:
self.terminate_request_event.set()
self.retire_agent(self.agent)
# If terminated, send callback
self.termination_complete_event.set()
def hot_reload_if_necessary(self):
try:
new_module_modification_time = self.check_modification_time(
os.path.dirname(self.agent_class_file))
if new_module_modification_time != self.last_module_modification_time or self.reload_request_event.is_set(
):
self.reload_request_event.clear()
self.last_module_modification_time = new_module_modification_time
# Clear the render queue on reload.
if hasattr(self.agent, 'renderer') and isinstance(
self.agent.renderer, RenderingManager):
self.agent.renderer.clear_all_touched_render_groups()
self.reload_agent()
except FileNotFoundError:
self.logger.error(
f"Agent file {self.agent_class_file} was not found. Will try again."
)
time.sleep(0.5)
except Exception:
self.logger.error("Reloading the agent failed:\n" +
traceback.format_exc())
time.sleep(
5
) # Avoid burning CPU, and give the user a moment to read the log
def retire_agent(self, agent):
# Shut down the bot by calling cleanup functions.
if hasattr(agent, 'retire'):
try:
agent.retire()
except Exception as e:
self.logger.error("Retiring the agent failed:\n" +
traceback.format_exc())
if hasattr(agent, 'renderer') and isinstance(agent.renderer,
RenderingManager):
agent.renderer.clear_all_touched_render_groups()
# Zero out the inputs, so it's more obvious that the bot has stopped.
self.game_interface.update_player_input(PlayerInput(), self.index)
# Don't trust the agent to shut down its own client in retire().
if agent._matchcomms is not None:
agent._matchcomms.close()
@staticmethod
def check_modification_time(directory):
files = [f for f in glob.glob(directory + "/**/*.py", recursive=True)]
max_modification_time = 0
for file in files:
mtime = os.stat(file).st_mtime
if mtime > max_modification_time:
max_modification_time = mtime
return max_modification_time
def get_field_info(self):
return self.game_interface.get_field_info()
def get_rigid_body_tick(self):
"""Get the most recent state of the physics engine."""
return self.game_interface.update_rigid_body_tick(self.rigid_body_tick)
def set_game_state(self, game_state: GameState) -> None:
self.game_interface.set_game_state(game_state)
def get_ball_prediction(self):
return self.game_interface.get_ball_prediction()
def get_match_settings(self) -> MatchSettings:
return self.game_interface.get_match_settings()
def get_ball_prediction_struct(self):
raise NotImplementedError
def prepare_for_run(self):
raise NotImplementedError
def call_agent(self, agent: BaseAgent, agent_class):
raise NotImplementedError
def get_game_time(self):
raise NotImplementedError
def pull_data_from_game(self):
raise NotImplementedError
def is_valid_field_info(self) -> bool:
"""Checks if the contents of field info are valid."""
raise NotImplementedError
class BotManager:
def __init__(self, terminate_request_event, termination_complete_event,
reload_request_event, bot_configuration, name, team, index,
agent_class_wrapper, agent_metadata_queue,
match_config: MatchConfig, matchcomms_root: URL,
spawn_id: int):
"""
:param terminate_request_event: an Event (multiprocessing) which will be set from the outside when the program is trying to terminate
:param termination_complete_event: an Event (multiprocessing) which should be set from inside this class when termination has completed successfully
:param reload_request_event: an Event (multiprocessing) which will be set from the outside to force a reload of the agent
:param reload_complete_event: an Event (multiprocessing) which should be set from inside this class when reloading has completed successfully
:param bot_configuration: parameters which will be passed to the bot's constructor
:param name: name which will be passed to the bot's constructor. Will probably be displayed in-game.
:param team: 0 for blue team or 1 for orange team. Will be passed to the bot's constructor.
:param index: The player index, i.e. "this is player number <index>". Will be passed to the bot's constructor.
Can be used to pull the correct data corresponding to the bot's car out of the game tick packet.
:param agent_class_wrapper: The ExternalClassWrapper object that can be used to load and reload the bot
:param agent_metadata_queue: a Queue (multiprocessing) which expects to receive AgentMetadata once available.
:param match_config: Describes the match that is being played.
:param matchcomms_root: The server to connect to if you want to communicate to other participants in the match.
:param spawn_id: The identifier we expect to see in the game tick packet at our player index. If it does not
match, then we will force the agent to retire. Pass None to opt out of this behavior.
"""
self.terminate_request_event = terminate_request_event
self.termination_complete_event = termination_complete_event
self.reload_request_event = reload_request_event
self.bot_configuration = bot_configuration
self.name = name
self.team = team
self.index = index
self.agent_class_wrapper = agent_class_wrapper
self.agent_metadata_queue = agent_metadata_queue
self.logger = get_logger('bot' + str(self.index))
self.game_interface = GameInterface(self.logger)
self.last_chat_time = time.time()
self.chat_counter = 0
self.reset_chat_time = True
self.game_tick_packet = None
self.bot_input = None
self.ball_prediction = None
self.rigid_body_tick = None
self.match_config = match_config
self.matchcomms_root = matchcomms_root
self.last_message_index = 0
self.agent = None
self.agent_class_file = None
self.last_module_modification_time = 0
self.scan_last = 0
self.scan_temp = 0
self.file_iterator = None
self.maximum_tick_rate_preference = bot_configuration.get(
BOT_CONFIG_MODULE_HEADER, MAXIMUM_TICK_RATE_PREFERENCE_KEY)
self.spawn_id = spawn_id
self.spawn_id_seen = False
self.counter = 0
def send_quick_chat_from_agent(self, team_only, quick_chat):
"""
Passes the agents quick chats to the game, and also to other python bots.
This does perform limiting.
You are limited to 5 quick chats in a 2 second period starting from the first chat.
This means you can spread your chats out to be even within that 2 second period.
You could spam them in the first little bit but then will be throttled.
"""
# Send the quick chat to the game
rlbot_status = send_quick_chat_flat(self.game_interface, self.index,
self.team, team_only, quick_chat)
if rlbot_status == RLBotCoreStatus.QuickChatRateExceeded:
self.logger.debug('quick chat disabled')
def load_agent(self) -> Tuple[BaseAgent, Path]:
"""
Loads and initializes an agent using instance variables, registers for quick chat and sets render functions.
:return: An instance of an agent, and the agent class file.
"""
agent_class = self.agent_class_wrapper.get_loaded_class()
self.agent = agent_class(self.name, self.team, self.index)
self.agent._set_spawn_id(self.spawn_id)
self.agent.matchcomms_root = self.matchcomms_root
self.agent.init_match_config(self.match_config)
self.agent.load_config(
self.bot_configuration.get_header("Bot Parameters"))
self.update_metadata_queue()
self.set_render_manager()
self.agent_class_file = self.agent_class_wrapper.python_file
self.agent._register_quick_chat(self.send_quick_chat_from_agent)
self.agent._register_field_info(self.get_field_info)
self.agent._register_set_game_state(self.set_game_state)
self.agent._register_ball_prediction(self.get_ball_prediction)
self.agent._register_ball_prediction_struct(
self.get_ball_prediction_struct)
self.agent._register_get_rigid_body_tick(self.get_rigid_body_tick)
self.agent._register_match_settings_func(self.get_match_settings)
# Once all engine setup is done, do the agent-specific initialization, if any:
self.agent.initialize_agent()
return self.agent, self.agent_class_file
def set_render_manager(self):
"""
Sets the render manager for the agent.
:param agent: An instance of an agent.
"""
rendering_manager = self.game_interface.renderer.get_rendering_manager(
self.index, self.team)
self.agent._set_renderer(rendering_manager)
def update_metadata_queue(self):
"""
Adds a new instance of AgentMetadata into the `agent_metadata_queue` using `agent` data.
:param agent: An instance of an agent.
"""
pids = {os.getpid(), *self.agent.get_extra_pids()}
helper_process_request = self.agent.get_helper_process_request()
self.agent_metadata_queue.put(
AgentMetadata(self.index, self.name, self.team, pids,
helper_process_request))
def reload_agent(self):
"""
Reloads the agent. Can throw exceptions. External classes should use reload_event.set() instead.
"""
self.logger.info('Reloading Agent: ' + self.agent.name)
self.agent_class_wrapper.reload()
old_agent = self.agent
self.load_agent()
self.retire_agent(
old_agent) # We do this after load_agent as load_agent might fail.
def wait_for_full_data(self):
for i in range(10):
match_settings = self.get_match_settings()
if match_settings is not None and self.get_field_info(
).num_goals > 0:
return
time.sleep(0.1)
self.logger.error(
"WARNING: failed to get full match data before starting bot!")
def run(self):
"""
Loads interface for RLBot, prepares environment and agent, and calls the update for the agent.
"""
self.logger.debug('initializing agent')
self.game_interface.load_interface()
self.wait_for_full_data()
self.prepare_for_run()
if self.match_config is None:
match_settings = self.game_interface.get_match_settings()
self.match_config = MatchConfig.from_match_settings_flatbuffer(
match_settings)
last_tick_game_time = 0 # What the tick time of the last observed tick was
last_call_real_time = datetime.now() # When we last called the Agent
frame_urgency = 0 # If the bot is getting called more than its preferred max rate, urgency will go negative.
# Get bot module
self.load_agent()
self.last_module_modification_time = self.check_modification_time(
os.path.dirname(self.agent_class_file))
# Run until main process tells to stop, or we detect Ctrl+C
try:
while not self.terminate_request_event.is_set():
self.pull_data_from_game()
# Run the Agent only if the game_info has updated.
tick_game_time = self.get_game_time()
now = datetime.now()
should_call_while_paused = now - last_call_real_time >= MAX_AGENT_CALL_PERIOD or self.match_config.enable_lockstep
if frame_urgency < 1 / self.maximum_tick_rate_preference:
# Urgency increases every frame, but don't let it build up a large backlog
frame_urgency += tick_game_time - last_tick_game_time
if tick_game_time != last_tick_game_time and frame_urgency >= 0 or should_call_while_paused:
last_call_real_time = now
# Urgency decreases when a tick is processed.
if frame_urgency > 0:
frame_urgency -= 1 / self.maximum_tick_rate_preference
self.perform_tick()
self.counter += 1
last_tick_game_time = tick_game_time
if self.spawn_id is not None:
packet_spawn_id = self.get_spawn_id()
if self.spawn_id_seen:
if packet_spawn_id != self.spawn_id:
self.logger.warn(
f"The bot's spawn id {self.spawn_id} does not match the one in the packet "
f"{packet_spawn_id}, retiring!")
break
elif packet_spawn_id == self.spawn_id and self.game_tick_packet.game_info.is_round_active:
self.spawn_id_seen = True
except KeyboardInterrupt:
self.terminate_request_event.set()
self.retire_agent(self.agent)
# If terminated, send callback
self.termination_complete_event.set()
def perform_tick(self):
# Reload the Agent if it has been modified or if reload is requested from outside.
# But only do that every 20th tick.
if self.agent.is_hot_reload_enabled() and self.counter % 20 == 1:
self.hot_reload_if_necessary()
try:
chat_messages = self.game_interface.receive_chat(
self.index, self.team, self.last_message_index)
for i in range(0, chat_messages.MessagesLength()):
message = chat_messages.Messages(i)
if len(self.match_config.player_configs) > message.PlayerIndex(
):
self.agent.handle_quick_chat(
index=message.PlayerIndex(),
team=self.match_config.player_configs[
message.PlayerIndex()].team,
quick_chat=message.QuickChatSelection())
else:
self.logger.debug(
f"Skipping quick chat delivery for {message.MessageIndex()} because "
"we don't recognize the player index. Probably stale.")
self.last_message_index = message.MessageIndex()
except EmptyDllResponse:
self.logger.debug("Empty response when reading chat!")
# Call agent
try:
self.call_agent(self.agent,
self.agent_class_wrapper.get_loaded_class())
except Exception as e:
self.logger.error("Call to agent failed:\n" +
traceback.format_exc())
def hot_reload_if_necessary(self):
try:
new_module_modification_time = self.check_modification_time(
os.path.dirname(self.agent_class_file))
if new_module_modification_time != self.last_module_modification_time or self.reload_request_event.is_set(
):
self.reload_request_event.clear()
self.last_module_modification_time = new_module_modification_time
# Clear the render queue on reload.
if hasattr(self.agent, 'renderer') and isinstance(
self.agent.renderer, RenderingManager):
self.agent.renderer.clear_all_touched_render_groups()
self.reload_agent()
except FileNotFoundError:
self.logger.error(
f"Agent file {self.agent_class_file} was not found. Will try again."
)
time.sleep(0.5)
except Exception:
self.logger.error("Reloading the agent failed:\n" +
traceback.format_exc())
time.sleep(
5
) # Avoid burning CPU, and give the user a moment to read the log
def retire_agent(self, agent):
# Shut down the bot by calling cleanup functions.
if hasattr(agent, 'retire'):
try:
agent.retire()
except Exception as e:
self.logger.error("Retiring the agent failed:\n" +
traceback.format_exc())
if hasattr(agent, 'renderer') and isinstance(agent.renderer,
RenderingManager):
agent.renderer.clear_all_touched_render_groups()
# Zero out the inputs, so it's more obvious that the bot has stopped.
self.game_interface.update_player_input(PlayerInput(), self.index)
# Don't trust the agent to shut down its own client in retire().
if agent._matchcomms is not None:
agent._matchcomms.close()
def check_modification_time(self, directory, timeout_ms=1):
if self.scan_last > 0 and timeout_ms is not None:
stop_time = time.perf_counter_ns() + timeout_ms * 10**6
else:
stop_time = None
if self.file_iterator is None:
self.file_iterator = glob.iglob(f"{directory}/**/*.py",
recursive=True)
for f in self.file_iterator:
self.scan_temp = max(self.scan_temp, os.stat(f).st_mtime)
if stop_time is not None and time.perf_counter_ns() > stop_time:
# Timeout exceeded. The scan will pick up from here on the next call.
break
else:
# Scan finished. Update the modification time and restart the scan:
self.scan_last, self.scan_temp = self.scan_temp, 0
self.file_iterator = None
return self.scan_last
def get_field_info(self) -> FieldInfoPacket:
field_info = FieldInfoPacket()
self.game_interface.update_field_info_packet(field_info)
return field_info
def get_rigid_body_tick(self):
"""Get the most recent state of the physics engine."""
return self.game_interface.update_rigid_body_tick(self.rigid_body_tick)
def set_game_state(self, game_state: GameState) -> None:
self.game_interface.set_game_state(game_state)
def get_ball_prediction(self):
return self.game_interface.get_ball_prediction()
def get_match_settings(self) -> MatchSettings:
return self.game_interface.get_match_settings()
def get_ball_prediction_struct(self):
raise NotImplementedError
def prepare_for_run(self):
raise NotImplementedError
def call_agent(self, agent: BaseAgent, agent_class):
raise NotImplementedError
def get_game_time(self):
raise NotImplementedError
def pull_data_from_game(self):
raise NotImplementedError
def get_spawn_id(self):
raise NotImplementedError