chore: change logo in README

.gitignore

@@ -10,3 +10,6 @@ wheels/
 .venv
 
 .vscode
+
+records
+*.rec

README.md

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+<p align="center">
+    <img src="logo.png" width="300">
+</p>
+
+# Rally Racer
+
+This repository holds a sandbox driving simulation controllable via a network interface as a machine learning and data collection challenge.
+
+# Installation
+From the root of the repository, run
+```sh
+uv sync
+```
+
+To run the game, you can use
+```sh
+uv run main.py
+```
+
+# Generality
+Launching [`main.py`](main.py) starts a race with a single car on the provided track. 
+This track can be controlled either by keyboard (*WASD*) or by a socket interface. 
+An example of such interface is included in the code in [*`scripts/recorder.py`*](scripts/recorder.py). To run it, simply use the following command:
+```sh
+uv run -m scripts.recorder
+```
+
+# Sensing
+The car sensing is available in two commodities: **raycasts** and **images**. These sensing snapshots are sent at 10 Hertz (i.e. 10 times a second). Due to this fact, correct reception of snapshot messages has to be done regularly.
+
+# Communication protocol
+
+A remote controller can be impemented using TCP socket connecting on localhost on port 5000.
+Different commands can be issued to the race simulation to control the car.
+
+These commands are declared in [`src/command.py`](src/command.py)
+
+##  Car controls
+```python
+ControlCommand(control: CarControl, active: bool)
+```
+To simulate key press and control the car.
+
+
+# Controls
+
+- <kbd>W</kbd> Move forward
+- <kbd>S</kbd> Brake / move backward
+- <kbd>A</kbd> Turn left
+- <kbd>D</kbd> Turn right
+- <kbd>F</kbd> Toggle FPS indicator
+- <kbd>V</kbd> Toggle speedometer
+- <kbd>R</kbd> Reset car
+- <kbd>C</kbd> Toggle raycasts visibility
+- <kbd>Esc</kbd> Quit
+
+
+# Credits
+This project is based on the repository [https://github.com/ISC-HEI/RallyRobotPilot_2025](https://github.com/ISC-HEI/RallyRobotPilot_2025), which is in turn based on [https://github.com/mandaw2014/Rally](https://github.com/mandaw2014/Rally)

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+    }
+}

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+           style="fill:#53170b;fill-opacity:1;stroke-linecap:round;stroke-linejoin:round"
+           d="m 50.000001,33.500001 v 13 a 1.0867994,1.0867994 132.61819 0 1 -0.996546,1.083045 l -4.006908,0.333908 A 0.92013337,0.92013337 42.618189 0 1 44.000001,46.999999 V 33 a 0.92013291,0.92013291 137.38183 0 1 0.996546,-0.916954 l 4.006908,0.333909 a 1.0867999,1.0867999 47.381826 0 1 0.996546,1.083046 z"
+           id="path3"
+           inkscape:path-effect="#path-effect3"
+           inkscape:original-d="m 50.000001,32.500001 v 15 l -6,0.499998 V 32 Z"
+           sodipodi:nodetypes="ccccc"
+           inkscape:label="windshield" />
+        <path
+           style="fill:#af3116;fill-opacity:1;stroke-linecap:round;stroke-linejoin:round"
+           d="m 29.000001,46.999999 c -4,0 -8.000001,0 -11.000001,-1 v -12 c 3,-1 7.000001,-1 11.000001,-1 z"
+           id="path4"
+           sodipodi:nodetypes="ccccc"
+           inkscape:label="back_window" />
+      </g>
+    </g>
+  </g>
+</svg>

pyproject.toml

@@ -4,4 +4,9 @@ version = "0.1.0"
 description = "Rally racing game for ML"
 readme = "README.md"
 requires-python = ">=3.13"
-dependencies = ["pygame>=2.6.1"]
+dependencies = [
+    "numpy>=2.3.4",
+    "pygame>=2.6.1",
+    "pyqt6>=6.9.1",
+    "qasync>=0.28.0",
+]

scripts/example_bot.py

@@ -0,0 +1,41 @@
+from PyQt6.QtWidgets import QApplication
+
+from src.bot import Bot
+from src.command import CarControl
+from src.recorder import RecorderWindow
+from src.snapshot import Snapshot
+
+
+class ExampleBot(Bot):
+    def nn_infer(self, snapshot: Snapshot) -> list[tuple[CarControl, bool]]:
+        #   Do smart NN inference here
+        return [(CarControl.FORWARD, True)]
+
+    def on_snapshot_received(self, snapshot: Snapshot):
+        controls: list[tuple[CarControl, bool]] = self.nn_infer(snapshot)
+        for control, active in controls:
+            self.recorder.on_car_controlled(control, active)
+
+
+def main():
+    import sys
+
+    def except_hook(cls, exception, traceback):
+        sys.__excepthook__(cls, exception, traceback)
+
+    sys.excepthook = except_hook
+
+    app: QApplication = QApplication(sys.argv)
+    recorder: RecorderWindow = RecorderWindow("localhost", 5000)
+    bot: ExampleBot = ExampleBot()
+    bot.set_recorder(recorder)
+
+    app.aboutToQuit.connect(recorder.shutdown)
+    recorder.register_bot(bot)
+    recorder.show()
+
+    app.exec()
+
+
+if __name__ == "__main__":
+    main()

scripts/recorder.py

@@ -0,0 +1,23 @@
+from PyQt6.QtWidgets import QApplication
+
+from src.recorder import RecorderWindow
+
+
+def main():
+    import sys
+
+    def except_hook(cls, exception, traceback):
+        sys.__excepthook__(cls, exception, traceback)
+
+    sys.excepthook = except_hook
+
+    app = QApplication(sys.argv)
+    window = RecorderWindow("localhost", 5000)
+    app.aboutToQuit.connect(window.shutdown)
+    window.show()
+
+    app.exec()
+
+
+if __name__ == "__main__":
+    main()

scripts/track_gen.py

@@ -0,0 +1,40 @@
+import json
+from math import radians
+from pathlib import Path
+from src.utils import ROOT
+from src.vec import Vec
+
+
+def gen_circle(
+    folder: Path, center: Vec, radius: float, n_sides: int, width: float = 1
+):
+    with open(folder / "track.json", "w") as f:
+        pts: list[tuple[float, ...]] = []
+
+        for i in range(n_sides):
+            angle: float = radians(i / n_sides * 360)
+            v: Vec = Vec(1, 0).rotate(angle)
+            pos: Vec = center + v * radius
+            normal: Vec = v
+            pts.append((pos.x, pos.y, normal.x, normal.y, width))
+
+        for i, pt in enumerate(pts):
+            pts[i] = tuple(round(v, 3) for v in pt)
+
+        json.dump([{"type": "road", "pts": pts}], f, indent=4)
+
+    with open(folder / "meta.json", "r") as f:
+        meta: dict = json.load(f)
+
+    meta["start"] = {"pos": [radius, 0], "direction": [0, 1]}
+    with open(folder / "meta.json", "w") as f:
+        json.dump(meta, f, indent=4)
+
+
+def main():
+    folder: Path = ROOT / "assets" / "tracks" / "simple"
+    gen_circle(folder, Vec(0, 0), 30, 36)
+
+
+if __name__ == "__main__":
+    main()

src/bot.py

@@ -0,0 +1,26 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING, Optional
+
+from src.snapshot import Snapshot
+
+if TYPE_CHECKING:
+    from src.recorder import RecorderWindow
+
+
+class Bot:
+    def __init__(self):
+        self._recorder: Optional[RecorderWindow] = None
+
+    @property
+    def recorder(self) -> RecorderWindow:
+        if self._recorder is None:
+            raise RuntimeError(
+                "Bot does not have a recorder. Call Bot.set_recorder to set one")
+        return self._recorder
+
+    def set_recorder(self, recorder: RecorderWindow):
+        self._recorder = recorder
+
+    def on_snapshot_received(self, snapshot: Snapshot):
+        pass

src/camera.py

@@ -23,8 +23,12 @@ class Camera:
     def center(self) -> Vec:
         return self.size / 2
 
+    @property
+    def car_screen_pos(self) -> Vec:
+        return Vec(self.size.x / 2, 3 * self.size.y / 4)
+
     def screen2world(self, screen_pos: Vec) -> Vec:
-        delta: Vec = screen_pos - self.center
+        delta: Vec = screen_pos - self.car_screen_pos
         delta /= self.zoom * self.UNIT_RATIO
         dx: float = delta.x
         dy: float = delta.y
@@ -39,5 +43,8 @@ class Camera:
         dy: float = -delta.dot(self.up)
         dx: float = delta.dot(self.up.perp)
         screen_delta: Vec = Vec(dx, dy) * self.zoom * self.UNIT_RATIO
-        screen_pos: Vec = self.center + screen_delta
+        screen_pos: Vec = self.car_screen_pos + screen_delta
         return screen_pos
+
+    def size2screen(self, size: float) -> float:
+        return size * self.zoom * self.UNIT_RATIO

src/car.py

@@ -1,22 +1,35 @@
 from math import radians
+from typing import Optional
 
 import pygame
 
 from src.camera import Camera
-from src.utils import segments_intersect
+from src.remote_controller import RemoteController
+from src.utils import get_segments_intersection, segments_intersect
 from src.vec import Vec
 
 
+def sign(x): return 0 if x == 0 else (-1 if x < 0 else 1)
+
+
 class Car:
-    MAX_SPEED = 0.05
+    MAX_SPEED = 5
-    MAX_BACK_SPEED = -0.025
+    MAX_BACK_SPEED = -3
-    ROTATE_SPEED = radians(1)
+    ROTATE_SPEED = 1
     COLOR = (230, 150, 80)
+    CTRL_COLOR = (80, 230, 150)
     WIDTH = 0.4
     LENGTH = 0.6
     COLLISION_MARGIN = 0.4
+    ACCELERATION = 2
+    FRICTION = 2.5
+    N_RAYS = 15
+    RAYS_FOV = 180
+    RAYS_MAX_DIST = 100
 
     def __init__(self, pos: Vec, direction: Vec) -> None:
+        self.initial_pos: Vec = pos.copy()
+        self.initial_dir: Vec = direction.copy()
         self.pos: Vec = pos
         self.direction: Vec = direction
         self.speed: float = 0
@@ -26,20 +39,26 @@ class Car:
         self.right: bool = False
         self.colliding: bool = False
 
-    def update(self):
+        self.rays: list[float] = [0] * self.N_RAYS
+        self.rays_end: list[Vec] = [Vec() for _ in range(self.N_RAYS)]
+
+        self.controller: RemoteController = RemoteController(self)
+        self.controller.start_server()
+
+    def update(self, dt: float):
         if self.forward:
-            self.speed += 0.001
+            self.speed += self.ACCELERATION * dt
             self.speed = min(self.MAX_SPEED, self.speed)
 
         if self.backward:
-            self.speed -= 0.002
+            self.speed -= self.ACCELERATION * 2 * dt
             self.speed = max(self.MAX_BACK_SPEED, self.speed)
 
         rotate_angle: float = 0
         if self.left:
-            rotate_angle -= self.ROTATE_SPEED
+            rotate_angle -= self.ROTATE_SPEED * dt
         if self.right:
-            rotate_angle += self.ROTATE_SPEED
+            rotate_angle += self.ROTATE_SPEED * dt
 
         # if self.backward:
         #    rotate_angle *= -1
@@ -47,17 +66,35 @@ class Car:
         if rotate_angle != 0:
             self.direction = self.direction.rotate(rotate_angle)
 
-        self.speed *= 0.98
+        if not self.forward and not self.backward:
-        if abs(self.speed) < 1e-8:
+            fn = max if self.speed >= 0 else min
+            self.speed -= sign(self.speed) * self.FRICTION * dt
+            self.speed = fn(0, self.speed)
+
+        if abs(self.speed) < 1e-4:
             self.speed = 0
 
-        self.pos += self.direction * self.speed
+        self.pos += self.direction * self.speed * dt
+
+    def render(self, surf: pygame.Surface, camera: Camera, show_raycasts: bool = False):
+        if show_raycasts:
+            pos: Vec = camera.world2screen(self.pos)
+            for p in self.rays_end:
+                pygame.draw.line(surf, (255, 0, 0), pos,
+                                 camera.world2screen(p), 2)
 
-    def render(self, surf: pygame.Surface, camera: Camera):
         pts: list[Vec] = self.get_corners()
         pts = [camera.world2screen(p) for p in pts]
         pygame.draw.polygon(surf, self.COLOR, pts)
 
+        if self.controller.is_connected:
+            pygame.draw.circle(
+                surf,
+                self.CTRL_COLOR,
+                camera.world2screen(self.pos),
+                camera.size2screen(self.WIDTH / 4),
+            )
+
     def get_corners(self) -> list[Vec]:
         u: Vec = self.direction * self.LENGTH / 2
         v: Vec = self.direction.perp * self.WIDTH / 2
@@ -69,6 +106,8 @@ class Car:
         return [p1, p2, p3, p4]
 
     def check_collisions(self, polygons: list[list[Vec]]):
+        self.cast_rays(polygons)
+
         self.colliding = False
         corners: list[Vec] = self.get_corners()
         sides: list[tuple[Vec, Vec]] = [
@@ -92,5 +131,45 @@ class Car:
                             n *= -1
                             dist = -dist
                         self.speed = 0
-                        self.pos = self.pos + n * (self.COLLISION_MARGIN - dist)
+                        self.pos = self.pos + n * \
+                            (self.COLLISION_MARGIN - dist)
                         return
+
+    def cast_rays(self, polygons: list[list[Vec]]):
+        for i in range(self.N_RAYS):
+            angle: float = radians(
+                (i / (self.N_RAYS - 1) - 0.5) * self.RAYS_FOV)
+            p: Optional[Vec] = self.cast_ray(angle, polygons)
+            self.rays[i] = self.RAYS_MAX_DIST if p is None else (
+                p - self.pos).mag()
+            self.rays_end[i] = self.pos if p is None else p
+
+    def cast_ray(self, angle: float, polygons: list[list[Vec]]) -> Optional[Vec]:
+        v: Vec = self.direction.normalized.rotate(angle)
+
+        segments: list[tuple[Vec, Vec]] = []
+        for polygon in polygons:
+            n_pts: int = len(polygon)
+            for i in range(n_pts):
+                pt1: Vec = polygon[i]
+                pt2: Vec = polygon[(i + 1) % n_pts]
+                segments.append((pt1, pt2))
+
+        p1: Vec = self.pos
+        p2: Vec = p1 + v * self.RAYS_MAX_DIST
+        dist: float = self.RAYS_MAX_DIST
+        closest: Optional[Vec] = None
+
+        for q1, q2 in segments:
+            p: Optional[Vec] = get_segments_intersection(p1, p2, q1, q2)
+            if p is not None:
+                d: float = (p - p1).mag()
+                if d < dist:
+                    dist = d
+                    closest = p
+        return closest
+
+    def reset(self):
+        self.pos = self.initial_pos.copy()
+        self.direction = self.initial_dir.copy()
+        self.speed = 0

src/command.py

@@ -0,0 +1,109 @@
+from __future__ import annotations
+
+import abc
+from enum import IntEnum
+import struct
+from typing import Type
+
+from src.snapshot import Snapshot
+
+
+class CommandType(IntEnum):
+    CAR_CONTROL = 0
+    RECORDING = 1
+    APPLY_SNAPSHOT = 2
+    RESET = 3
+
+
+class CarControl(IntEnum):
+    FORWARD = 0
+    BACKWARD = 1
+    LEFT = 2
+    RIGHT = 3
+
+
+class Command(abc.ABC):
+    TYPE: CommandType
+    REGISTRY: dict[CommandType, Type[Command]] = {}
+
+    def __init_subclass__(cls) -> None:
+        super().__init_subclass__()
+        if cls.TYPE in Command.REGISTRY:
+            raise ValueError(
+                f"Command type {cls.TYPE} already registered by {Command.REGISTRY[cls.TYPE]}"
+            )
+        Command.REGISTRY[cls.TYPE] = cls
+
+    def get_payload(self) -> bytes:
+        return b""
+
+    def pack(self) -> bytes:
+        payload: bytes = self.get_payload()
+        return struct.pack(">B", self.TYPE) + payload
+
+    @staticmethod
+    def unpack(data: bytes) -> Command:
+        type: CommandType = CommandType(data[0])
+        return Command.REGISTRY[type].from_payload(data[1:])
+
+    @classmethod
+    def from_payload(cls, payload: bytes) -> Command:
+        return cls()
+
+
+class ControlCommand(Command):
+    TYPE = CommandType.CAR_CONTROL
+    __match_args__ = ("control", "active")
+
+    def __init__(self, control: CarControl, active: bool) -> None:
+        super().__init__()
+        self.control: CarControl = control
+        self.active: bool = active
+
+    def get_payload(self) -> bytes:
+        return struct.pack(">B", (self.control << 1) | self.active)
+
+    @classmethod
+    def from_payload(cls, payload: bytes) -> Command:
+        value: int = payload[0]
+        active: bool = (value & 1) == 1
+        control: int = value >> 1
+        return ControlCommand(CarControl(control), active)
+
+
+class RecordingCommand(Command):
+    TYPE = CommandType.RECORDING
+    __match_args__ = ("state",)
+
+    def __init__(self, state: bool) -> None:
+        super().__init__()
+        self.state: bool = state
+
+    def get_payload(self) -> bytes:
+        return struct.pack(">B", self.state)
+
+    @classmethod
+    def from_payload(cls, payload: bytes) -> Command:
+        state: bool = struct.unpack(">B", payload)[0]
+        return RecordingCommand(state)
+
+
+class ApplySnapshotCommand(Command):
+    TYPE = CommandType.APPLY_SNAPSHOT
+    __match_args__ = ("snapshot",)
+
+    def __init__(self, snapshot: Snapshot) -> None:
+        super().__init__()
+        self.snapshot: Snapshot = snapshot
+
+    def get_payload(self) -> bytes:
+        return self.snapshot.pack()
+
+    @classmethod
+    def from_payload(cls, payload: bytes) -> Command:
+        snapshot: Snapshot = Snapshot.unpack(payload)
+        return ApplySnapshotCommand(snapshot)
+
+
+class ResetCommand(Command):
+    TYPE = CommandType.RESET

src/game.py

@@ -1,3 +1,4 @@
+from math import cos, radians, sin
 import pygame
 
 from src.camera import Camera
@@ -29,19 +30,21 @@ class Game:
             str(ROOT / "assets" / "fonts" / "Ubuntu-M.ttf"), 20
         )
         self.show_fps: bool = True
+        self.show_speed: bool = True
+        self.show_raycasts: bool = True
 
     def mainloop(self):
         while self.running:
+            dt: float = self.clock.get_time() / 1000
             self.process_pygame_events()
-            self.car.update()
+            self.car.controller.process_commands()
+            self.car.update(dt)
             self.car.check_collisions(self.track.get_collision_polygons())
+            self.update_camera()
             self.render()
             self.clock.tick(60)
 
     def process_pygame_events(self):
-        self.camera.set_pos(self.car.pos)
-        self.camera.set_direction(self.car.direction)
-        self.camera.set_size(Vec(*self.win.get_size()))
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 self.quit()
@@ -55,15 +58,23 @@ class Game:
             elif event.type == pygame.KEYUP:
                 self.on_key_up(event)
 
+    def update_camera(self):
+        self.camera.set_pos(self.car.pos)
+        self.camera.set_direction(self.car.direction)
+        self.camera.set_size(Vec(*self.win.get_size()))
+
     def quit(self):
         self.running = False
+        self.car.controller.close()
 
     def render(self):
         self.win.fill(self.BACKGROUND_COLOR)
         self.track.render(self.win, self.camera)
-        self.car.render(self.win, self.camera)
+        self.car.render(self.win, self.camera, self.show_raycasts)
         if self.show_fps:
             self.render_fps()
+        if self.show_speed:
+            self.render_speedometer()
 
         pygame.display.flip()
 
@@ -76,6 +87,14 @@ class Game:
             self.car.left = True
         elif event.key == pygame.K_d:
             self.car.right = True
+        elif event.key == pygame.K_f:
+            self.show_fps = not self.show_fps
+        elif event.key == pygame.K_v:
+            self.show_speed = not self.show_speed
+        elif event.key == pygame.K_c:
+            self.show_raycasts = not self.show_raycasts
+        elif event.key == pygame.K_r:
+            self.reset()
 
     def on_key_up(self, event: pygame.event.Event):
         if event.key == pygame.K_w:
@@ -92,3 +111,32 @@ class Game:
             f"{self.clock.get_fps():.1f}", True, self.FPS_COLOR
         )
         self.win.blit(txt, (self.win.get_width() - txt.get_width(), 0))
+
+    def render_speedometer(self):
+        if self.car.speed == 0:
+            return
+        angle: float = self.car.speed / self.car.MAX_SPEED * 180
+
+        pts1: list[tuple[float, float]] = []
+        pts2: list[tuple[float, float]] = []
+
+        n: int = 30
+        r: float = 50
+        ox: float = r + 10
+        oy: float = r + 10
+        thickness: float = 5
+        r2: float = r - thickness
+
+        for i in range(n):
+            a: float = radians(angle * i / (n - 1))
+            dx: float = -cos(a)
+            dy: float = -sin(a)
+            pts1.append((ox + r * dx, oy + r * dy))
+            pts2.append((ox + r2 * dx, oy + r2 * dy))
+
+        pygame.draw.polygon(self.win, (200, 200, 200), pts1 + pts2[::-1])
+
+    def reset(self):
+        self.car.pos = self.track.start_pos
+        self.car.direction = self.track.start_dir
+        self.car.speed = 0

src/objects/road.py

@@ -10,9 +10,14 @@ from src.vec import Vec
 class Road(TrackObject):
     type = TrackObjectType.Road
 
+    STRIP_LENGTH = 0.5
+    STRIP_GAP = 0.5
+
     def __init__(self, pts: list[RoadPoint]) -> None:
         super().__init__()
         self.pts: list[RoadPoint] = pts
+        self.strips: list[tuple[Vec, Vec]] = []
+        self.compute_strips()
 
     @classmethod
     def load(cls, data: dict) -> Road:
@@ -28,8 +33,6 @@ class Road(TrackObject):
             p3: Vec = p1 - pt.normal * pt.width
             side1.append(camera.world2screen(p2))
             side2.append(camera.world2screen(p3))
-            col: tuple[float, float, float] = (i * 10 + 150, 100, 100)
-            pygame.draw.circle(surf, col, camera.world2screen(p1), 5)
 
         n: int = len(self.pts)
         for i in range(n):
@@ -42,6 +45,15 @@ class Road(TrackObject):
         pygame.draw.lines(surf, (255, 255, 255), True, side1)
         pygame.draw.lines(surf, (255, 255, 255), True, side2)
 
+        for p1, p2 in self.strips:
+            pygame.draw.line(
+                surf,
+                (255, 255, 255),
+                camera.world2screen(p1),
+                camera.world2screen(p2),
+                6,
+            )
+
     def get_collision_polygons(self) -> list[list[Vec]]:
         side1: list[Vec] = []
         side2: list[Vec] = []
@@ -51,9 +63,50 @@ class Road(TrackObject):
             p3: Vec = p1 - pt.normal * pt.width
             side1.append(p2)
             side2.append(p3)
-
         return [side1, side2]
 
+    def compute_strips(self):
+        n: int = len(self.pts)
+        vecs: list[Vec] = [
+            self.pts[(i + 1) % n].pos - pt.pos for i, pt in enumerate(self.pts)
+        ]
+        lengths: list[float] = [v.mag() for v in vecs]
+        cum_sums: list[float] = [0]
+        for l in lengths:
+            cum_sums.append(cum_sums[-1] + l)
+        self.strips = []
+        total_length: float = sum(lengths)
+
+        def get_pt(length: float) -> tuple[int, float]:
+            length %= total_length
+            for i, cs in list(enumerate(cum_sums))[::-1]:
+                if cs <= length:
+                    return (i, (length - cs) / lengths[i])
+            raise ValueError()
+
+        l0: float = 0
+        while l0 < total_length:
+            l1: float = l0 + self.STRIP_LENGTH
+            i0, t0 = get_pt(l0)
+            i1, t1 = get_pt(l1)
+            p0: Vec = self.pts[i0].pos + vecs[i0] * t0
+            p1: Vec = self.pts[i1].pos + vecs[i1] * t1
+            if i0 == i1:
+                self.strips.append((p0, p1))
+            elif (i0 + 1) % n == i1:
+                pm: Vec = self.pts[i1].pos
+                self.strips.append((p0, pm))
+                self.strips.append((pm, p1))
+            else:
+                self.strips.append((p0, self.pts[(i0 + 1) % n].pos))
+                i = (i0 + 1) % n
+                while i != i1:
+                    i2 = (i + 1) % n
+                    self.strips.append((self.pts[i].pos, self.pts[i2].pos))
+                    i = i2
+                self.strips.append((self.pts[i1].pos, p1))
+            l0 = l1 + self.STRIP_GAP
+
 
 class RoadPoint:
     def __init__(self, pos: Vec, normal: Vec, width: float) -> None:

src/record_file.py

@@ -0,0 +1,50 @@
+import lzma
+from pathlib import Path
+import struct
+import time
+from typing import Literal
+
+from src.snapshot import Snapshot
+
+
+class RecordFile:
+    VERSION = 1
+
+    def __init__(self, path: str | Path, mode: Literal["w", "r"]) -> None:
+        self.path: str | Path = path
+        self.mode: Literal["w", "r"] = mode
+        self.file: lzma.LZMAFile = lzma.LZMAFile(self.path, self.mode)
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, type, value, traceback):
+        self.file.close()
+
+    def write_header(self, n_snapshots: int):
+        data: bytes = struct.pack(">IId", self.VERSION, n_snapshots, time.time())
+        self.file.write(data)
+
+    def write_snapshots(self, snapshots: list[Snapshot]):
+        self.write_header(len(snapshots))
+        for snapshot in snapshots:
+            data: bytes = snapshot.pack()
+            self.file.write(struct.pack(">I", len(data)) + data)
+
+    def read_snapshots(self) -> list[Snapshot]:
+        version: int = struct.unpack(">I", self.file.read(4))[0]
+        if version != self.VERSION:
+            raise ValueError(
+                f"Cannot parse record file with format version {version} (current version: {self.VERSION})"
+            )
+
+        n_snapshots: int
+        timestamp: float
+        n_snapshots, timestamp = struct.unpack(">Id", self.file.read(12))
+        snapshots: list[Snapshot] = []
+
+        for _ in range(n_snapshots):
+            size: int = struct.unpack(">I", self.file.read(4))[0]
+            snapshots.append(Snapshot.unpack(self.file.read(size)))
+
+        return snapshots

src/recorder.py

@@ -0,0 +1,281 @@
+import os
+from pathlib import Path
+import socket
+import struct
+from typing import Optional
+
+from PyQt6 import uic
+from PyQt6.QtCore import QObject, QThread, QTimer, pyqtSignal, pyqtSlot
+from PyQt6.QtGui import QKeyEvent
+from PyQt6.QtWidgets import QMainWindow
+
+from src.bot import Bot
+from src.command import ApplySnapshotCommand, CarControl, Command, ControlCommand, RecordingCommand, ResetCommand
+from src.record_file import RecordFile
+from src.recorder_ui import Ui_Recorder
+from src.snapshot import Snapshot
+
+
+class RecorderClient(QObject):
+    DATA_CHUNK_SIZE = 4096
+    data_received: pyqtSignal = pyqtSignal(Snapshot)
+
+    def __init__(self, host: str, port: int) -> None:
+        super().__init__()
+        self.host: str = host
+        self.port: int = port
+        self.socket: socket.socket = socket.socket(
+            socket.AF_INET, socket.SOCK_STREAM)
+        self.timer: Optional[QTimer] = None
+        self.connected: bool = False
+        self.buffer: bytes = b""
+
+    @pyqtSlot()
+    def start(self):
+        self.socket.connect((self.host, self.port))
+        self.socket.setblocking(False)
+        self.connected = True
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.poll_socket)
+        self.timer.start(50)
+        print("Connected to server")
+
+    def poll_socket(self):
+        if not self.connected:
+            return
+
+        try:
+            while True:
+                chunk: bytes = self.socket.recv(self.DATA_CHUNK_SIZE)
+                if not chunk:
+                    return
+                self.buffer += chunk
+
+                while True:
+                    if len(self.buffer) < 4:
+                        break
+                    msg_len: int = struct.unpack(">I", self.buffer[:4])[0]
+                    msg_end: int = 4 + msg_len
+                    if len(self.buffer) < msg_end:
+                        break
+
+                    message: bytes = self.buffer[4:msg_end]
+                    self.buffer = self.buffer[msg_end:]
+                    self.on_message(message)
+        except BlockingIOError:
+            pass
+        except Exception as e:
+            print(f"Socket error: {e}")
+            self.shutdown()
+
+    def on_message(self, message: bytes):
+        snapshot: Snapshot = Snapshot.unpack(message)
+        self.data_received.emit(snapshot)
+
+    @pyqtSlot(object)
+    def send_command(self, command):
+        if self.connected:
+            try:
+                payload: bytes = command.pack()
+                self.socket.sendall(struct.pack(">I", len(payload)) + payload)
+            except Exception as e:
+                print(f"An exception occured: {e}")
+                self.shutdown()
+        else:
+            print("Not connected")
+
+    @pyqtSlot()
+    def shutdown(self):
+        print("Shutting down client")
+        if self.timer is not None:
+            self.timer.stop()
+            self.timer = None
+        self.connected = False
+        self.socket.close()
+
+
+class ThreadedSaver(QThread):
+    def __init__(self, path: str | Path, snapshots: list[Snapshot]):
+        super().__init__()
+        self.path: str | Path = path
+        self.snapshots: list[Snapshot] = snapshots
+
+    def run(self):
+        with RecordFile(self.path, "w") as f:
+            f.write_snapshots(self.snapshots)
+
+
+class RecorderWindow(Ui_Recorder, QMainWindow):
+    close_signal: pyqtSignal = pyqtSignal()
+    send_signal: pyqtSignal = pyqtSignal(object)
+
+    SAVE_DIR: Path = Path(__file__).parent.parent / "records"
+
+    COMMAND_DIRECTIONS: dict[str, CarControl] = {
+        "w": CarControl.FORWARD,
+        "s": CarControl.BACKWARD,
+        "d": CarControl.RIGHT,
+        "a": CarControl.LEFT,
+    }
+
+    def __init__(self, host: str, port: int) -> None:
+        super().__init__()
+
+        self.host: str = host
+        self.port: int = port
+        self.client_thread: QThread = QThread()
+        self.client: RecorderClient = RecorderClient(self.host, self.port)
+        self.client.data_received.connect(self.on_snapshot_received)
+        self.client.moveToThread(self.client_thread)
+        self.client_thread.started.connect(self.client.start)
+        self.close_signal.connect(self.client.shutdown)
+        self.send_signal.connect(self.client.send_command)
+
+        uic.load_ui.loadUi("src/recorder.ui", self)
+
+        self.forwardButton.pressed.connect(
+            lambda: self.on_car_controlled(CarControl.FORWARD, True)
+        )
+        self.forwardButton.released.connect(
+            lambda: self.on_car_controlled(CarControl.FORWARD, False)
+        )
+
+        self.backwardButton.pressed.connect(
+            lambda: self.on_car_controlled(CarControl.BACKWARD, True)
+        )
+        self.backwardButton.released.connect(
+            lambda: self.on_car_controlled(CarControl.BACKWARD, False)
+        )
+
+        self.rightButton.pressed.connect(
+            lambda: self.on_car_controlled(CarControl.RIGHT, True)
+        )
+        self.rightButton.released.connect(
+            lambda: self.on_car_controlled(CarControl.RIGHT, False)
+        )
+
+        self.leftButton.pressed.connect(
+            lambda: self.on_car_controlled(CarControl.LEFT, True)
+        )
+        self.leftButton.released.connect(
+            lambda: self.on_car_controlled(CarControl.LEFT, False)
+        )
+
+        self.recordDataButton.clicked.connect(self.toggle_record)
+        self.resetButton.clicked.connect(self.rollback)
+
+        self.bot: Optional[Bot] = None
+        self.autopiloting = False
+
+        self.autopilotButton.clicked.connect(self.toggle_autopilot)
+        self.autopilotButton.setDisabled(True)
+
+        self.saveRecordButton.clicked.connect(self.save_record)
+
+        self.saving_worker: Optional[ThreadedSaver] = None
+        self.recording = False
+
+        self.snapshots: list[Snapshot] = []
+        self.client_thread.start()
+
+    def on_car_controlled(self, control: CarControl, active: bool):
+        self.send_command(ControlCommand(control, active))
+
+    def keyPressEvent(self, event):  # type: ignore
+        if event.isAutoRepeat():
+            return
+
+        if isinstance(event, QKeyEvent):
+            key_text = event.text()
+            ctrl: Optional[CarControl] = self.COMMAND_DIRECTIONS.get(key_text)
+            if ctrl is not None:
+                self.on_car_controlled(ctrl, True)
+
+    def keyReleaseEvent(self, event):  # type: ignore
+        if event.isAutoRepeat():
+            return
+        if isinstance(event, QKeyEvent):
+            key_text = event.text()
+            ctrl: Optional[CarControl] = self.COMMAND_DIRECTIONS.get(key_text)
+            if ctrl is not None:
+                self.on_car_controlled(ctrl, False)
+
+    def toggle_record(self):
+        self.recording = not self.recording
+        self.recordDataButton.setText(
+            "Recording..." if self.recording else "Record")
+        self.send_command(RecordingCommand(self.recording))
+
+    def rollback(self):
+        rollback_by: int = self.forgetSnapshotNumber.value()
+        rollback_by = max(0, min(rollback_by, len(self.snapshots) - 1))
+
+        self.snapshots = self.snapshots[:-rollback_by]
+        self.nbrSnapshotSaved.setText(str(len(self.snapshots)))
+
+        if len(self.snapshots) == 0:
+            self.send_command(ResetCommand())
+        else:
+            self.send_command(ApplySnapshotCommand(self.snapshots[-1]))
+
+        if self.recording:
+            self.toggle_record()
+
+    def toggle_autopilot(self):
+        self.autopiloting = not self.autopiloting
+        self.autopilotButton.setText(
+            "AutoPilot:\n" + ("ON" if self.autopiloting else "OFF")
+        )
+
+    def save_record(self):
+        if self.saving_worker is not None:
+            print("Already saving !")
+            return
+
+        if len(self.snapshots) == 0:
+            print("No data to save !")
+            return
+
+        if self.recording:
+            self.toggle_record()
+
+        self.saveRecordButton.setText("Saving ...")
+
+        self.SAVE_DIR.mkdir(exist_ok=True)
+
+        record_name: str = "record_%d.rec.xz"
+        fid = 0
+        while os.path.exists(self.SAVE_DIR / (record_name % fid)):
+            fid += 1
+
+        self.saving_worker = ThreadedSaver(
+            self.SAVE_DIR / (record_name % fid), self.snapshots)
+        self.snapshots = []
+        self.nbrSnapshotSaved.setText("0")
+        self.saving_worker.finished.connect(self.on_record_save_done)
+        self.saving_worker.start()
+
+    def on_record_save_done(self):
+        if self.saving_worker is None:
+            return
+        print("Recorded data saved to", self.saving_worker.path)
+        self.saving_worker = None
+        self.saveRecordButton.setText("Save")
+
+    @pyqtSlot(Snapshot)
+    def on_snapshot_received(self, snapshot: Snapshot):
+        self.snapshots.append(snapshot)
+        self.nbrSnapshotSaved.setText(str(len(self.snapshots)))
+
+        if self.autopiloting and self.bot is not None:
+            self.bot.on_snapshot_received(snapshot)
+
+    def shutdown(self):
+        self.close_signal.emit()
+
+    def send_command(self, command: Command):
+        self.send_signal.emit(command)
+
+    def register_bot(self, bot: Bot):
+        self.bot = bot
+        self.autopilotButton.setDisabled(False)

src/recorder.ui

@@ -0,0 +1,157 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Recorder</class>
+ <widget class="QWidget" name="Recorder">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>303</width>
+    <height>233</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Recorder</string>
+  </property>
+  <widget class="QWidget" name="gridLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>301</width>
+     <height>231</height>
+    </rect>
+   </property>
+   <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0">
+    <item row="0" column="1">
+     <widget class="QPushButton" name="forwardButton">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>Forward (W)</string>
+      </property>
+     </widget>
+    </item>
+    <item row="3" column="0">
+     <widget class="QPushButton" name="leftButton">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>Left (A)</string>
+      </property>
+     </widget>
+    </item>
+    <item row="3" column="2">
+     <widget class="QPushButton" name="rightButton">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>Right (D)</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QPushButton" name="recordDataButton">
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>Record</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QCheckBox" name="saveImgCheckBox">
+          <property name="text">
+           <string>Imgs</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveRecordButton">
+        <property name="text">
+         <string>Save</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="0" column="0">
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QPushButton" name="resetButton">
+        <property name="text">
+         <string>Rollback</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSpinBox" name="forgetSnapshotNumber">
+        <property name="minimum">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="nbrSnapshotSaved">
+        <property name="text">
+         <string>0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="3" column="1">
+     <widget class="QPushButton" name="autopilotButton">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>AutoPilot
+OFF</string>
+      </property>
+     </widget>
+    </item>
+    <item row="4" column="1">
+     <widget class="QPushButton" name="backwardButton">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="text">
+       <string>Backward (S)</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/recorder_ui.py

@@ -0,0 +1,109 @@
+# Form implementation generated from reading ui file 'recorder.ui'
+#
+# Created by: PyQt6 UI code generator 6.8.1
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt6 import QtCore, QtGui, QtWidgets
+
+
+class Ui_Recorder(object):
+    def setupUi(self, Recorder):
+        Recorder.setObjectName("Recorder")
+        Recorder.resize(303, 233)
+        self.gridLayoutWidget = QtWidgets.QWidget(parent=Recorder)
+        self.gridLayoutWidget.setGeometry(QtCore.QRect(0, 0, 301, 231))
+        self.gridLayoutWidget.setObjectName("gridLayoutWidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.gridLayoutWidget)
+        self.gridLayout.setContentsMargins(0, 0, 0, 0)
+        self.gridLayout.setObjectName("gridLayout")
+        self.forwardButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.forwardButton.sizePolicy().hasHeightForWidth())
+        self.forwardButton.setSizePolicy(sizePolicy)
+        self.forwardButton.setObjectName("forwardButton")
+        self.gridLayout.addWidget(self.forwardButton, 0, 1, 1, 1)
+        self.leftButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.leftButton.sizePolicy().hasHeightForWidth())
+        self.leftButton.setSizePolicy(sizePolicy)
+        self.leftButton.setObjectName("leftButton")
+        self.gridLayout.addWidget(self.leftButton, 3, 0, 1, 1)
+        self.rightButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.rightButton.sizePolicy().hasHeightForWidth())
+        self.rightButton.setSizePolicy(sizePolicy)
+        self.rightButton.setObjectName("rightButton")
+        self.gridLayout.addWidget(self.rightButton, 3, 2, 1, 1)
+        self.verticalLayout = QtWidgets.QVBoxLayout()
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.recordDataButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        self.recordDataButton.setAutoFillBackground(False)
+        self.recordDataButton.setObjectName("recordDataButton")
+        self.verticalLayout.addWidget(self.recordDataButton)
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        self.saveImgCheckBox = QtWidgets.QCheckBox(parent=self.gridLayoutWidget)
+        self.saveImgCheckBox.setObjectName("saveImgCheckBox")
+        self.horizontalLayout.addWidget(self.saveImgCheckBox)
+        self.verticalLayout.addLayout(self.horizontalLayout)
+        self.saveRecordButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        self.saveRecordButton.setObjectName("saveRecordButton")
+        self.verticalLayout.addWidget(self.saveRecordButton)
+        self.gridLayout.addLayout(self.verticalLayout, 0, 2, 1, 1)
+        self.verticalLayout_2 = QtWidgets.QVBoxLayout()
+        self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.resetButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        self.resetButton.setObjectName("resetButton")
+        self.verticalLayout_2.addWidget(self.resetButton)
+        self.forgetSnapshotNumber = QtWidgets.QSpinBox(parent=self.gridLayoutWidget)
+        self.forgetSnapshotNumber.setMinimum(10)
+        self.forgetSnapshotNumber.setObjectName("forgetSnapshotNumber")
+        self.verticalLayout_2.addWidget(self.forgetSnapshotNumber)
+        self.nbrSnapshotSaved = QtWidgets.QLabel(parent=self.gridLayoutWidget)
+        self.nbrSnapshotSaved.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
+        self.nbrSnapshotSaved.setObjectName("nbrSnapshotSaved")
+        self.verticalLayout_2.addWidget(self.nbrSnapshotSaved)
+        self.gridLayout.addLayout(self.verticalLayout_2, 0, 0, 1, 1)
+        self.autopilotButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.autopilotButton.sizePolicy().hasHeightForWidth())
+        self.autopilotButton.setSizePolicy(sizePolicy)
+        self.autopilotButton.setObjectName("autopilotButton")
+        self.gridLayout.addWidget(self.autopilotButton, 3, 1, 1, 1)
+        self.backwardButton = QtWidgets.QPushButton(parent=self.gridLayoutWidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.backwardButton.sizePolicy().hasHeightForWidth())
+        self.backwardButton.setSizePolicy(sizePolicy)
+        self.backwardButton.setObjectName("backwardButton")
+        self.gridLayout.addWidget(self.backwardButton, 4, 1, 1, 1)
+
+        self.retranslateUi(Recorder)
+        QtCore.QMetaObject.connectSlotsByName(Recorder)
+
+    def retranslateUi(self, Recorder):
+        _translate = QtCore.QCoreApplication.translate
+        Recorder.setWindowTitle(_translate("Recorder", "Recorder"))
+        self.forwardButton.setText(_translate("Recorder", "Forward (W)"))
+        self.leftButton.setText(_translate("Recorder", "Left (A)"))
+        self.rightButton.setText(_translate("Recorder", "Right (D)"))
+        self.recordDataButton.setText(_translate("Recorder", "Record"))
+        self.saveImgCheckBox.setText(_translate("Recorder", "Imgs"))
+        self.saveRecordButton.setText(_translate("Recorder", "Save"))
+        self.resetButton.setText(_translate("Recorder", "Rollback"))
+        self.nbrSnapshotSaved.setText(_translate("Recorder", "0"))
+        self.autopilotButton.setText(_translate("Recorder", "AutoPilot\n"
+"OFF"))
+        self.backwardButton.setText(_translate("Recorder", "Backward (S)"))

src/remote_controller.py

@@ -0,0 +1,138 @@
+from __future__ import annotations
+
+import queue
+import socket
+import struct
+import threading
+from typing import TYPE_CHECKING, Optional
+
+from src.command import ApplySnapshotCommand, CarControl, Command, ControlCommand, RecordingCommand, ResetCommand
+from src.snapshot import Snapshot
+from src.utils import RepeatTimer
+
+if TYPE_CHECKING:
+    from src.car import Car
+
+
+class RemoteController:
+    DEFAULT_PORT = 5000
+    DATA_CHUNK_SIZE = 4096
+
+    CONTROL_ATTRIBUTES: dict[CarControl, str] = {
+        CarControl.FORWARD: "forward",
+        CarControl.BACKWARD: "backward",
+        CarControl.LEFT: "left",
+        CarControl.RIGHT: "right",
+    }
+
+    SNAPSHOT_INTERVAL = 0.1
+
+    def __init__(self, car: Car, port: int = DEFAULT_PORT) -> None:
+        self.car: Car = car
+        self.port: int = port
+        self.server: socket.socket = socket.socket(
+            socket.AF_INET, socket.SOCK_STREAM)
+        self.server_thread: threading.Thread = threading.Thread(
+            target=self.wait_for_connections, daemon=True
+        )
+        self.running: bool = False
+        self.queue: queue.Queue[Command] = queue.Queue()
+        self.client_thread: Optional[threading.Thread] = None
+        self.client: Optional[socket.socket] = None
+        self.snapshot_timer: RepeatTimer = RepeatTimer(
+            interval=self.SNAPSHOT_INTERVAL, function=self.take_snapshot)
+        self.snapshot_timer.start()
+        self.recording: bool = False
+
+    @property
+    def is_connected(self) -> bool:
+        return self.client is not None
+
+    def wait_for_connections(self):
+        self.server.bind(("", self.port))
+        self.server.listen(1)
+        print(f"Remote control server listening on port {self.port}")
+        while self.running:
+            conn, addr = self.server.accept()
+            print(f"Remote connection from {addr}")
+            self.on_client_connected(conn)
+
+    def start_server(self):
+        self.running = True
+        self.server_thread.start()
+
+    def close(self):
+        if self.client:
+            self.client.close()
+        self.server.close()
+        self.snapshot_timer.cancel()
+        self.running = False
+
+    def on_client_connected(self, conn: socket.socket):
+        if self.client:
+            print("A client is already connected")
+            conn.close()
+            return
+
+        self.client = conn
+        self.client_thread = threading.Thread(target=self.client_loop)
+        self.client_thread.start()
+
+    def client_loop(self):
+        buffer: bytes = b""
+        while self.running and self.client:
+            chunk: bytes = self.client.recv(self.DATA_CHUNK_SIZE)
+            if not chunk:
+                print("Client disconnected")
+                break
+            buffer += chunk
+
+            while True:
+                if len(buffer) < 4:
+                    break
+                msg_len: int = struct.unpack(">I", buffer[:4])[0]
+                msg_end: int = 4 + msg_len
+                if len(buffer) < msg_end:
+                    break
+
+                message: bytes = buffer[4:msg_end]
+                buffer = buffer[msg_end:]
+                self.on_message(message)
+
+        if self.client:
+            self.client.close()
+            self.client = None
+            self.client_thread = None
+
+    def on_message(self, message: bytes):
+        command: Command = Command.unpack(message)
+        self.queue.put(command)
+
+    def process_commands(self):
+        while not self.queue.empty():
+            command: Command = self.queue.get()
+            self.process_command(command)
+
+    def process_command(self, command: Command):
+        match command:
+            case ControlCommand(control, active):
+                self.set_control(control, active)
+            case RecordingCommand(state):
+                self.recording = state
+            case ApplySnapshotCommand(snapshot):
+                snapshot.apply(self.car)
+            case ResetCommand():
+                self.car.reset()
+
+    def set_control(self, control: CarControl, active: bool):
+        setattr(self.car, self.CONTROL_ATTRIBUTES[control], active)
+
+    def take_snapshot(self):
+        if self.client is None:
+            return
+        if not self.recording:
+            return
+
+        snapshot: Snapshot = Snapshot.from_car(self.car)
+        payload: bytes = snapshot.pack()
+        self.client.sendall(struct.pack(">I", len(payload)) + payload)

src/snapshot.py

@@ -0,0 +1,101 @@
+from __future__ import annotations
+
+import struct
+from dataclasses import dataclass, field
+from typing import TYPE_CHECKING, Optional
+
+import numpy as np
+
+from src.vec import Vec
+
+if TYPE_CHECKING:
+    from src.car import Car
+
+
+def iter_unpack(format, data):
+    nbr_bytes = struct.calcsize(format)
+    return struct.unpack(format, data[:nbr_bytes]), data[nbr_bytes:]
+
+
+@dataclass
+class Snapshot:
+    controls: tuple[bool, bool, bool, bool] = (False, False, False, False)
+    position: Vec = field(default_factory=Vec)
+    direction: Vec = field(default_factory=Vec)
+    speed: float = 0
+    raycast_distances: list[float] | tuple[float, ...] = field(
+        default_factory=list)
+    image: Optional[np.ndarray] = None
+
+    def pack(self):
+        data: bytes = b""
+        data += struct.pack(">BBBB", *self.controls)
+        data += struct.pack(
+            ">fffff",
+            self.position.x,
+            self.position.y,
+            self.direction.x,
+            self.direction.y,
+            self.speed,
+        )
+
+        nbr_raycasts: int = len(self.raycast_distances)
+        data += struct.pack(f">B{nbr_raycasts}f",
+                            nbr_raycasts, *self.raycast_distances)
+
+        if self.image is not None:
+            data += struct.pack(">II",
+                                self.image.shape[0], self.image.shape[1])
+            data += self.image.tobytes()
+        else:
+            data += struct.pack(">II", 0, 0)
+
+        return data
+
+    @staticmethod
+    def unpack(data: bytes) -> Snapshot:
+        controls, data = iter_unpack(">BBBB", data)
+        (x, y, dx, dy, s), data = iter_unpack(">fffff", data)
+        position = Vec(x, y)
+        direction = Vec(dx, dy)
+        speed = s
+
+        (nbr_raycasts,), data = iter_unpack(">B", data)
+        raycast_distances, data = iter_unpack(f">{nbr_raycasts}f", data)
+
+        (h, w), data = iter_unpack(">II", data)
+
+        if h * w > 0:
+            image = np.frombuffer(data, np.uint8).reshape(h, w, 3)
+        else:
+            image = None
+
+        return Snapshot(
+            controls=controls,
+            position=position,
+            direction=direction,
+            speed=speed,
+            raycast_distances=raycast_distances,
+            image=image,
+        )
+
+    @staticmethod
+    def from_car(car: Car) -> Snapshot:
+        return Snapshot(
+            controls=(
+                car.forward,
+                car.backward,
+                car.left,
+                car.right
+            ),
+            position=car.pos.copy(),
+            direction=car.direction.copy(),
+            speed=car.speed,
+            raycast_distances=car.rays.copy(),
+            image=None
+        )
+
+    def apply(self, car: Car):
+        car.pos = self.position.copy()
+        car.direction = self.direction.copy()
+        car.speed = 0

src/utils.py

@@ -1,10 +1,12 @@
 import os
 from pathlib import Path
+from threading import Timer
+from typing import Optional
 
 from src.vec import Vec
 
-
+ROOT = Path(os.path.abspath(os.path.join(
-ROOT = Path(os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir)))
+    os.path.dirname(__file__), os.pardir)))
 
 
 def orientation(a: Vec, b: Vec, c: Vec) -> float:
@@ -32,3 +34,36 @@ def segments_intersect(a1: Vec, a2: Vec, b1: Vec, b2: Vec) -> bool:
         return True
 
     return False
+
+
+def get_segments_intersection(a1: Vec, a2: Vec, b1: Vec, b2: Vec) -> Optional[Vec]:
+    da: Vec = a2 - a1
+    db: Vec = b2 - b1
+    dp: Vec = a1 - b1
+    dap: Vec = da.perp
+    denom: float = dap.dot(db)
+
+    if abs(denom) < 1e-9:
+        o1: float = da.cross(-dp)
+        if abs(o1) < 1e-9:
+            for p in [b1, b2]:
+                if p.within(a1, a2):
+                    return p
+            for p in [a1, a2]:
+                if p.within(b1, b2):
+                    return p
+            return None
+        return None
+
+    num: float = dap.dot(dp)
+    t: float = num / denom
+    intersection: Vec = b1 + db * t
+    if intersection.within(a1, a2) and intersection.within(b1, b2):
+        return intersection
+    return None
+
+
+class RepeatTimer(Timer):
+    def run(self):
+        while not self.finished.wait(self.interval):
+            self.function(*self.args, **self.kwargs)

src/vec.py

@@ -8,6 +8,9 @@ class Vec:
         self.x: float = x
         self.y: float = y
 
+    def copy(self) -> Vec:
+        return Vec(self.x, self.y)
+
     def __add__(self, other: float | Vec) -> Vec:
         if isinstance(other, Vec):
             return Vec(self.x + other.x, self.y + other.y)
@@ -24,6 +27,9 @@ class Vec:
     def __truediv__(self, value: float) -> Vec:
         return Vec(self.x / value, self.y / value)
 
+    def __neg__(self) -> Vec:
+        return Vec(-self.x, -self.y)
+
     def dot(self, other: Vec) -> float:
         return self.x * other.x + self.y * other.y
 

uv.lock

@@ -2,6 +2,58 @@ version = 1
 revision = 3
 requires-python = ">=3.13"
 
+[[package]]
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+version = "2.3.4"
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