fix: correctly shutdown QTimers

src/command.py

@@ -8,6 +8,7 @@ from typing import Type
 
 class CommandType(IntEnum):
     CAR_CONTROL = 0
+    RECORDING = 1
 
 
 class CarControl(IntEnum):
@@ -64,3 +65,20 @@ class ControlCommand(Command):
         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)

src/record_file.py

@@ -0,0 +1,49 @@
+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 = open(self.path, self.mode + "b")
+
+    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

@@ -1,11 +1,16 @@
+import os
+from pathlib import Path
 import socket
 import struct
+from typing import Optional
 
 from PyQt6 import uic
-from PyQt6.QtCore import QObject, Qt, QThread, QTimer, pyqtSignal, pyqtSlot
+from PyQt6.QtCore import QObject, QThread, QTimer, pyqtSignal, pyqtSlot
+from PyQt6.QtGui import QKeyEvent
 from PyQt6.QtWidgets import QMainWindow
 
-from src.command import CarControl, Command, ControlCommand
+from src.command import CarControl, Command, ControlCommand, RecordingCommand
+from src.record_file import RecordFile
 from src.recorder_ui import Ui_Recorder
 from src.snapshot import Snapshot
 
@@ -18,9 +23,9 @@ class RecorderClient(QObject):
         super().__init__()
         self.host: str = host
         self.port: int = port
-        self.socket: socket.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.timer: QTimer = QTimer(self)
-        self.timer.timeout.connect(self.poll_socket)
+        self.socket: socket.socket = socket.socket(
+            socket.AF_INET, socket.SOCK_STREAM)
+        self.timer: Optional[QTimer] = None
         self.connected: bool = False
 
     @pyqtSlot()
@@ -28,8 +33,10 @@ class RecorderClient(QObject):
         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(f"Connected to server")
+        print("Connected to server")
 
     def poll_socket(self):
         buffer: bytes = b""
@@ -78,15 +85,37 @@ class RecorderClient(QObject):
     @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__()
 
@@ -102,13 +131,6 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
 
         uic.load_ui.loadUi("src/recorder.ui", self)
 
-        self.command_directions = {
-            "w": CarControl.FORWARD,
-            "s": CarControl.BACKWARD,
-            "d": CarControl.RIGHT,
-            "a": CarControl.LEFT,
-        }
-
         self.forwardButton.pressed.connect(
             lambda: self.on_car_controlled(CarControl.FORWARD, True)
         )
@@ -146,16 +168,39 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
 
         self.saveRecordButton.clicked.connect(self.save_record)
 
+        self.saving_worker: Optional[ThreadedSaver] = None
         self.recording = False
 
-        self.recorded_data = []
+        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):
-        pass
+        self.recording = not self.recording
+        self.recordDataButton.setText(
+            "Recording..." if self.recording else "Record")
+        self.send_command(RecordingCommand(self.recording))
 
     def rollback(self):
         pass
@@ -167,12 +212,44 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
         )
 
     def save_record(self):
-        pass
+        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"
+        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.recorded_data.append(snapshot)
-        self.nbrSnapshotSaved.setText(str(len(self.recorded_data)))
+        self.snapshots.append(snapshot)
+        self.nbrSnapshotSaved.setText(str(len(self.snapshots)))
 
     def shutdown(self):
         self.close_signal.emit()

src/remote_controller.py

@@ -6,7 +6,9 @@ import struct
 import threading
 from typing import TYPE_CHECKING, Optional
 
-from src.command import CarControl, Command, ControlCommand
+from src.command import CarControl, Command, ControlCommand, RecordingCommand
+from src.snapshot import Snapshot
+from src.utils import RepeatTimer
 
 if TYPE_CHECKING:
     from src.car import Car
@@ -23,10 +25,13 @@ class RemoteController:
         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: socket.socket = socket.socket(
+            socket.AF_INET, socket.SOCK_STREAM)
         self.server_thread: threading.Thread = threading.Thread(
             target=self.wait_for_connections, daemon=True
         )
@@ -34,6 +39,10 @@ class RemoteController:
         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:
@@ -56,6 +65,7 @@ class RemoteController:
         if self.client:
             self.client.close()
         self.server.close()
+        self.snapshot_timer.cancel()
         self.running = False
 
     def on_client_connected(self, conn: socket.socket):
@@ -107,6 +117,18 @@ class RemoteController:
         match command:
             case ControlCommand(control, active):
                 self.set_control(control, active)
+            case RecordingCommand(state):
+                self.recording = state
 
     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

@@ -2,12 +2,15 @@ from __future__ import annotations
 
 import struct
 from dataclasses import dataclass, field
-from typing import Optional
+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)
@@ -20,7 +23,8 @@ class Snapshot:
     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)
+    raycast_distances: list[float] | tuple[float, ...] = field(
+        default_factory=list)
     image: Optional[np.ndarray] = None
 
     def pack(self):
@@ -36,10 +40,12 @@ class Snapshot:
         )
 
         nbr_raycasts: int = len(self.raycast_distances)
-        data += struct.pack(f">B{nbr_raycasts}f", nbr_raycasts, *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 += struct.pack(">II",
+                                self.image.shape[0], self.image.shape[1])
             data += self.image.tobytes()
         else:
             data += struct.pack(">II", 0, 0)
@@ -72,3 +78,19 @@ class Snapshot:
             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
+        )

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(os.path.dirname(__file__), os.pardir)))
+ROOT = Path(os.path.abspath(os.path.join(
+    os.path.dirname(__file__), os.pardir)))
 
 
 def orientation(a: Vec, b: Vec, c: Vec) -> float:
@@ -59,3 +61,9 @@ def get_segments_intersection(a1: Vec, a2: Vec, b1: Vec, b2: Vec) -> Optional[Ve
     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)