chore: add record files to gitignore

.gitignore

@@ -9,4 +9,7 @@ wheels/
 # Virtual environments
 .venv
 
-.vscode
+.vscode
+
+records
+*.rec

scripts/example_bot.py

@@ -0,0 +1,40 @@
+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(recorder)
+
+    app.aboutToQuit.connect(recorder.shutdown)
+    recorder.register_bot(bot)
+    recorder.show()
+
+    app.exec()
+
+
+if __name__ == "__main__":
+    main()

src/bot.py

@@ -0,0 +1,16 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from src.snapshot import Snapshot
+
+if TYPE_CHECKING:
+    from src.recorder import RecorderWindow
+
+
+class Bot:
+    def __init__(self, recorder: RecorderWindow):
+        self.recorder: RecorderWindow = recorder
+
+    def on_snapshot_received(self, snapshot: Snapshot):
+        pass

src/car.py

@@ -8,7 +8,8 @@ from src.remote_controller import RemoteController
 from src.utils import get_segments_intersection, segments_intersect
 from src.vec import Vec
 
-sign = lambda x: 0 if x == 0 else (-1 if x < 0 else 1)
+
+def sign(x): return 0 if x == 0 else (-1 if x < 0 else 1)
 
 
 class Car:
@@ -27,6 +28,8 @@ class Car:
     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
@@ -77,7 +80,8 @@ class Car:
         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)
+                pygame.draw.line(surf, (255, 0, 0), pos,
+                                 camera.world2screen(p), 2)
 
         pts: list[Vec] = self.get_corners()
         pts = [camera.world2screen(p) for p in pts]
@@ -127,14 +131,17 @@ 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)
+            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[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]:
@@ -161,3 +168,8 @@ class Car:
                     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

@@ -5,10 +5,14 @@ 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):
@@ -30,8 +34,8 @@ class Command(abc.ABC):
             )
         Command.REGISTRY[cls.TYPE] = cls
 
-    @abc.abstractmethod
+    def get_payload(self) -> bytes:
-    def get_payload(self) -> bytes: ...
+        return b""
 
     def pack(self) -> bytes:
         payload: bytes = self.get_payload()
@@ -43,8 +47,8 @@ class Command(abc.ABC):
         return Command.REGISTRY[type].from_payload(data[1:])
 
     @classmethod
-    @abc.abstractmethod
+    def from_payload(cls, payload: bytes) -> Command:
-    def from_payload(cls, payload: bytes) -> Command: ...
+        return cls()
 
 
 class ControlCommand(Command):
@@ -82,3 +86,24 @@ class RecordingCommand(Command):
     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/recorder.py

@@ -9,7 +9,8 @@ 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, RecordingCommand
+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
@@ -162,9 +163,11 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
         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)
 
@@ -203,7 +206,19 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
         self.send_command(RecordingCommand(self.recording))
 
     def rollback(self):
-        pass
+        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
@@ -251,8 +266,15 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
         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

@@ -99,7 +99,7 @@
       <item>
        <widget class="QPushButton" name="resetButton">
         <property name="text">
-         <string>Reset</string>
+         <string>Rollback</string>
         </property>
        </widget>
       </item>

src/recorder_ui.py

@@ -1,6 +1,6 @@
 # Form implementation generated from reading ui file 'recorder.ui'
 #
-# Created by: PyQt6 UI code generator 6.8.0
+# 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.
@@ -102,7 +102,7 @@ class Ui_Recorder(object):
         self.recordDataButton.setText(_translate("Recorder", "Record"))
         self.saveImgCheckBox.setText(_translate("Recorder", "Imgs"))
         self.saveRecordButton.setText(_translate("Recorder", "Save"))
-        self.resetButton.setText(_translate("Recorder", "Reset"))
+        self.resetButton.setText(_translate("Recorder", "Rollback"))
         self.nbrSnapshotSaved.setText(_translate("Recorder", "0"))
         self.autopilotButton.setText(_translate("Recorder", "AutoPilot\n"
 "OFF"))

src/remote_controller.py

@@ -6,7 +6,7 @@ import struct
 import threading
 from typing import TYPE_CHECKING, Optional
 
-from src.command import CarControl, Command, ControlCommand, RecordingCommand
+from src.command import ApplySnapshotCommand, CarControl, Command, ControlCommand, RecordingCommand, ResetCommand
 from src.snapshot import Snapshot
 from src.utils import RepeatTimer
 
@@ -119,6 +119,10 @@ class RemoteController:
                 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)

src/snapshot.py

@@ -94,3 +94,8 @@ class Snapshot:
             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