Merge branch 'master' of https://github.com/drssoccer55/RLBot

README.md

@@ -1,5 +1,9 @@
 # RLBot
 
+<p align="center">
+  <img width="512" height="158" src="https://github.com/drssoccer55/RLBot/blob/master/images/RLBot.png">
+</p>
+
 ### Short Description
 Saltie is a bot that uses Neural Networks and Machine Learning to learn how to play the game.
 It also has tools for training bots and collecting the replays from a lot of distributed computers

RLBotInjectorSource/RLBot Injector/Injector.cs

@@ -34,57 +34,136 @@ class Injector
         [DllImport("kernel32", CharSet = CharSet.Ansi, ExactSpelling = true, SetLastError = true)]
         private static extern bool CloseHandle(IntPtr hObject);
 
+        [DllImport("kernel32", CharSet = CharSet.Ansi, ExactSpelling = true, SetLastError = true)]
+        private static extern bool GetExitCodeThread(IntPtr hThread, out uint lpExitCode);
+
         private const int PROCESS_ALL_ACCESS = 0x1f0fff;
         private const int MEM_COMMIT = 0x1000;
         private const int MEM_RELEASE = 0x8000;
         private const int PAGE_READWRITE = 0x4;
+        private const int STILL_ACTIVE = 259;
+
+        private static IntPtr hProcess = IntPtr.Zero;
+        private static IntPtr allocAddress = IntPtr.Zero;
+        private static IntPtr libThread = IntPtr.Zero;
+        private static byte[] dllBytes;
+
+        private static string getLastFunctionError(string functionName, int errorCode = -1)
+        {
+            return string.Format("{0} failed with error code {1}", functionName, errorCode == -1 ? Marshal.GetLastWin32Error() : errorCode);
+        }
 
-        public static bool Inject(int pID, string dllLocation)
+        private static void cleanUp()
+        {
+            if (hProcess != IntPtr.Zero)
+            {
+                if (allocAddress != IntPtr.Zero)
+                {
+                    VirtualFreeEx(hProcess, allocAddress, (uint)dllBytes.Length, MEM_RELEASE);
+                    allocAddress = IntPtr.Zero;
+                }
+
+                CloseHandle(hProcess);
+                hProcess = IntPtr.Zero;
+
+                if (dllBytes != null)
+                    dllBytes = null;
+            }
+
+            if (libThread != IntPtr.Zero)
+            {
+                CloseHandle(libThread);
+                libThread = IntPtr.Zero;
+            }
+        }
+
+        public static bool Inject(int pID, string dllLocation, ref string error)
         {
             if (!File.Exists(dllLocation))
             {
+                error = "The RLBot Dll file could not be found";
                 return false;
             }
 
-            IntPtr hProcess = OpenProcess(PROCESS_ALL_ACCESS, true, pID);
+            hProcess = OpenProcess(PROCESS_ALL_ACCESS, true, pID);
 
             if (hProcess == IntPtr.Zero)
             {
+                error = getLastFunctionError("OpenProcess");
                 return false;
             }
 
-            byte[] dllBytes = Encoding.ASCII.GetBytes(dllLocation);
-            IntPtr allocAddress = VirtualAllocEx(hProcess, IntPtr.Zero, (uint)dllBytes.Length, MEM_COMMIT, PAGE_READWRITE);
+            dllBytes = Encoding.Unicode.GetBytes(dllLocation);
+            allocAddress = VirtualAllocEx(hProcess, IntPtr.Zero, (uint)dllBytes.Length, MEM_COMMIT, PAGE_READWRITE);
 
             if (allocAddress == IntPtr.Zero)
             {
+                error = getLastFunctionError("VirtualAllocEx");
+                cleanUp();
                 return false;
             }
 
             IntPtr kernelMod = GetModuleHandle("kernel32.dll");
-            IntPtr loadLibAddr = GetProcAddress(kernelMod, "LoadLibraryA");
 
-            if (kernelMod == IntPtr.Zero | loadLibAddr == IntPtr.Zero)
+            if (kernelMod == IntPtr.Zero)
+            {
+                error = getLastFunctionError("GetModuleHandle");
+                cleanUp();
+                return false;
+            }
+
+            IntPtr loadLibAddr = GetProcAddress(kernelMod, "LoadLibraryW");
+
+            if (loadLibAddr == IntPtr.Zero)
             {
+                error = getLastFunctionError("GetProcAddress");
+                cleanUp();
                 return false;
             }
 
-            WriteProcessMemory(hProcess, allocAddress, dllBytes, (uint)dllBytes.Length, 0);
-            IntPtr libThread = CreateRemoteThread(hProcess, IntPtr.Zero, 0, loadLibAddr, allocAddress, 0, IntPtr.Zero);
+            if (WriteProcessMemory(hProcess, allocAddress, dllBytes, (uint)dllBytes.Length, 0) == false)
+            {
+                error = getLastFunctionError("WriteProcessMemory");
+                cleanUp();
+                return false;
+            }
+
+            libThread = CreateRemoteThread(hProcess, IntPtr.Zero, 0, loadLibAddr, allocAddress, 0, IntPtr.Zero);
 
             if (libThread == IntPtr.Zero)
             {
+                error = getLastFunctionError("CreateRemoteThread");
+                cleanUp();
                 return false;
             }
             else
             {
                 WaitForSingleObject(libThread, 5000);
-                CloseHandle(libThread);
-            }
 
-            VirtualFreeEx(hProcess, allocAddress, (uint)dllBytes.Length, MEM_RELEASE);
-            CloseHandle(hProcess);
+                uint exitCode;
+
+                if (GetExitCodeThread(libThread, out exitCode) == false)
+                {
+                    error = getLastFunctionError("GetExitCodeThread");
+                    cleanUp();
+                    return false;
+                }
+
+                if (exitCode == STILL_ACTIVE)
+                {
+                    error = "The remote thread has not terminated within 5 seconds";
+                    cleanUp();
+                    return false;
+                }
+                else if (exitCode == 0)
+                {
+                    error = "The remote LoadLibraryW call has failed";
+                    cleanUp();
+                    return false;
+                }
+            }
 
+            cleanUp();
             return true;
         }
     }

RLBotInjectorSource/RLBot Injector/MainForm.cs

@@ -29,7 +29,7 @@ public MainForm()
 
         private void MainForm_Load(object sender, EventArgs e)
         {
-            string[] dllPaths = Directory.GetFiles(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), "RLBot*.dll");
+            string[] dllPaths = Directory.GetFiles(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), "RLBot*Core.dll");
 
             if (dllPaths.Length == 0)
             {
@@ -69,7 +69,7 @@ private void injectorTimer_Tick(object sender, EventArgs e)
 
                 foreach (ProcessModule module in rlProcess.Modules)
                 {
-                    if (Regex.IsMatch(module.ModuleName, "RLBot.*.dll"))
+                    if (Regex.IsMatch(module.ModuleName, "RLBot.*Core.dll"))
                     {
                         MessageBox.Show("The RLBot Dll has already been injected into Rocket League!\n" +
                             "Injecting it more than once is not possible.",
@@ -81,7 +81,9 @@ private void injectorTimer_Tick(object sender, EventArgs e)
                     }
                 }
 
-                if (Injector.Inject(rlProcess.Id, dllPath))
+                string error = string.Empty;
+
+                if (Injector.Inject(rlProcess.Id, dllPath, ref error))
                 {
                     statusLabel.Text = "Injection successful!";
                     statusLabel.Update();
@@ -92,7 +94,8 @@ private void injectorTimer_Tick(object sender, EventArgs e)
                 {
                     statusLabel.Text = "Injection failed!";
                     statusLabel.Update();
-                    (new SoundPlayer(Properties.Resources.FailedToInjectTheDll)).PlaySync();
+                    (new SoundPlayer(Properties.Resources.FailedToInjectTheDll)).Play();
+                    MessageBox.Show(string.Format("Failed to inject the RLBot Dll: {0}.", error), "Injection failed", MessageBoxButtons.OK, MessageBoxIcon.Error);
                     Environment.Exit((int)ExitCodes.INJECTION_FAILED);
                 }
             }

RLBotInjectorSource/RLBot Injector/Properties/AssemblyInfo.cs

@@ -10,7 +10,7 @@
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("ccman32")]
 [assembly: AssemblyProduct("RLBot Injector")]
-[assembly: AssemblyCopyright("Copyright © 2017 ccman32")]
+[assembly: AssemblyCopyright("Copyright © 2018 ccman32")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 

atba.cfg

@@ -18,4 +18,21 @@ paint_finish_1_id = 1978
 paint_finish_2_id = 1978
 engine_audio_id = 0
 trails_id = 0
-goal_explosion_id = 1971
+goal_explosion_id = 1971
+
+[Participant Loadout Orange]
+# Name that will be displayed in game
+name = AlwaysTowardsBallAgent
+team_color_id = 1
+custom_color_id = 1
+car_id = 23
+decal_id = 0
+wheels_id = 818
+boost_id = 0
+antenna_id = 287
+hat_id = 0
+paint_finish_1_id = 266
+paint_finish_2_id = 266
+engine_audio_id = 0
+trails_id = 0
+goal_explosion_id = 1971

bot_manager.py

@@ -1,6 +1,6 @@
 import ctypes
-from datetime import datetime
 import gzip
+from datetime import datetime, timedelta
 import importlib
 import mmap
 import os
@@ -12,14 +12,18 @@
 import bot_input_struct as bi
 import game_data_struct as gd
 import rate_limiter
+import sys
+import imp
+import traceback
 
 
 from conversions import binary_converter as compressor
 from conversions.input import input_formatter
 
 OUTPUT_SHARED_MEMORY_TAG = 'Local\\RLBotOutput'
 INPUT_SHARED_MEMORY_TAG = 'Local\\RLBotInput'
-RATE_LIMITED_ACTIONS_PER_SECOND = 60
+GAME_TICK_PACKET_REFRESHES_PER_SECOND = 120  # 2*60. https://en.wikipedia.org/wiki/Nyquist_rate
+MAX_AGENT_CALL_PERIOD = timedelta(seconds=1.0/30)  # Minimum call rate when paused.
 REFRESH_IN_PROGRESS = 1
 REFRESH_NOT_IN_PROGRESS = 0
 MAX_CARS = 10
@@ -50,6 +54,14 @@ def __init__(self, terminateEvent, callbackEvent, config_file, name, team, index
         self.batch_size = 1000
         self.upload_size = 20
 
+    def load_agent(self, agent_module):
+        try:
+            agent = agent_module.Agent(self.name, self.team, self.index, config_file=self.config_file)
+        except TypeError as e:
+            print(e)
+            agent = agent_module.Agent(self.name, self.team, self.index)
+        return agent
+
     def run(self):
         # Set up shared memory map (offset makes it so bot only writes to its own input!) and map to buffer
         filename = ""
@@ -64,29 +76,27 @@ def run(self):
         lock = ctypes.c_long(0)
         game_tick_packet = gd.GameTickPacket()  # We want to do a deep copy for game inputs so people don't mess with em
 
-        # Get bot module
-        agent_module = importlib.import_module(self.module_name)
 
         # Create Ratelimiter
-        r = rate_limiter.RateLimiter(RATE_LIMITED_ACTIONS_PER_SECOND)
+        r = rate_limiter.RateLimiter(GAME_TICK_PACKET_REFRESHES_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
 
         # Find car with same name and assign index
         for i in range(MAX_CARS):
             if str(bot_output.gamecars[i].wName) == self.name:
                 self.index = i
                 continue
 
+        # Get bot module
+        agent_module = importlib.import_module(self.module_name)
         # Create bot from module
-        try:
-            agent = agent_module.Agent(self.name, self.team, self.index, config_file=self.config_file)
-        except TypeError as e:
-            print(e)
-            agent = agent_module.Agent(self.name, self.team, self.index)
+        agent = self.load_agent(agent_module)
 
         if hasattr(agent, 'create_model_hash'):
             self.model_hash = agent.create_model_hash()
         else:
-            self.model_hash = 0 #int(hashlib.sha256(self.name.encode('utf-8')).hexdigest(), 16) % 2 ** 64
+            self.model_hash = 0
 
         self.server_manager.set_model_hash(self.model_hash)
 
@@ -101,6 +111,8 @@ def run(self):
         old_time = 0
         counter = 0
 
+        last_module_modification_time = os.stat(agent_module.__file__).st_mtime
+
         # Run until main process tells to stop
         while not self.terminateEvent.is_set():
             before = datetime.now()
@@ -120,18 +132,44 @@ def run(self):
                 print('\n\n\n\n Match has ended so ending bot loop\n\n\n\n\n')
                 break
 
-            # Call agent
-            controller_input = agent.get_output_vector(game_tick_packet)
-
-            # Write all player inputs
-            player_input.fThrottle = controller_input[0]
-            player_input.fSteer = controller_input[1]
-            player_input.fPitch = controller_input[2]
-            player_input.fYaw = controller_input[3]
-            player_input.fRoll = controller_input[4]
-            player_input.bJump = controller_input[5]
-            player_input.bBoost = controller_input[6]
-            player_input.bHandbrake = controller_input[7]
+            # Run the Agent only if the gameInfo has updated.
+            tick_game_time = game_tick_packet.gameInfo.TimeSeconds
+            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()
+
+                try:
+                    # Reload the Agent if it has been modified.
+                    new_module_modification_time = os.stat(agent_module.__file__).st_mtime
+                    if new_module_modification_time != last_module_modification_time:
+                        last_module_modification_time = new_module_modification_time
+                        print('Reloading Agent: ' + agent_module.__file__)
+                        imp.reload(agent_module)
+                        agent = self.load_agent(agent_module)
+
+                    # Call agent
+                    controller_input = agent.get_output_vector(game_tick_packet)
+
+                    if not controller_input:
+                        raise Exception('Agent "{}" did not return a player_input tuple.'.format(agent_module.__file__))
+
+                    # Write all player inputs
+                    player_input.fThrottle = controller_input[0]
+                    player_input.fSteer = controller_input[1]
+                    player_input.fPitch = controller_input[2]
+                    player_input.fYaw = controller_input[3]
+                    player_input.fRoll = controller_input[4]
+                    player_input.bJump = controller_input[5]
+                    player_input.bBoost = controller_input[6]
+                    player_input.bHandbrake = controller_input[7]
+
+                except Exception as e:
+                    traceback.print_exc()
+
+                # Workaround for windows streams behaving weirdly when not in command prompt
+                sys.stdout.flush()
+                sys.stderr.flush()
 
             current_time = game_tick_packet.gameInfo.TimeSeconds
 
@@ -161,6 +199,7 @@ def run(self):
 
             # Ratelimit here
             after = datetime.now()
+
             after2 = time.time()
             # cant ever drop below 30 frames
             if after2 - before2 > 0.02:

game_data_struct.py

@@ -225,6 +225,12 @@ def rotate_game_tick_packet_boost_omitted(game_tick_packet):
     game_tick_packet.gameball.AngularVelocity.Y = -1 * game_tick_packet.gameball.AngularVelocity.Y
     game_tick_packet.gameball.Acceleration.X = -1 * game_tick_packet.gameball.Acceleration.X
     game_tick_packet.gameball.Acceleration.Y = -1 * game_tick_packet.gameball.Acceleration.Y
+
+    # ball touch data
+    game_tick_packet.gameball.LatestTouch.sHitLocation.X = -1 * game_tick_packet.gameball.LatestTouch.sHitLocation.X
+    game_tick_packet.gameball.LatestTouch.sHitLocation.Y = -1 * game_tick_packet.gameball.LatestTouch.sHitLocation.Y
+    game_tick_packet.gameball.LatestTouch.sHitNormal.X = -1 * game_tick_packet.gameball.LatestTouch.sHitNormal.X
+    game_tick_packet.gameball.LatestTouch.sHitNormal.Y = -1 * game_tick_packet.gameball.LatestTouch.sHitNormal.Y
 
     # Rotate Yaw 180 degrees is all that is necessary.
     ball_yaw = game_tick_packet.gameball.Rotation.Yaw