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5
.gitignore
vendored
5
.gitignore
vendored
@@ -9,4 +9,7 @@ wheels/
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# Virtual environments
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.venv
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.vscode
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.vscode
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records
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*.rec
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59
README.md
59
README.md
@@ -0,0 +1,59 @@
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<p align="center">
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<img src="logo.png" width="300">
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</p>
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# Rally Racer
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This repository holds a sandbox driving simulation controllable via a network interface as a machine learning and data collection challenge.
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# Installation
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From the root of the repository, run
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```sh
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uv sync
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```
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To run the game, you can use
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```sh
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uv run main.py
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```
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# Generality
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Launching [`main.py`](main.py) starts a race with a single car on the provided track.
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This track can be controlled either by keyboard (*WASD*) or by a socket interface.
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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:
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```sh
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uv run -m scripts.recorder
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```
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# Sensing
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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.
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# Communication protocol
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A remote controller can be impemented using TCP socket connecting on localhost on port 5000.
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Different commands can be issued to the race simulation to control the car.
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These commands are declared in [`src/command.py`](src/command.py)
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## Car controls
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```python
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ControlCommand(control: CarControl, active: bool)
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```
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To simulate key press and control the car.
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# Controls
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- <kbd>W</kbd> Move forward
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- <kbd>S</kbd> Brake / move backward
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- <kbd>A</kbd> Turn left
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- <kbd>D</kbd> Turn right
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- <kbd>F</kbd> Toggle FPS indicator
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- <kbd>V</kbd> Toggle speedometer
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- <kbd>R</kbd> Reset car
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- <kbd>C</kbd> Toggle raycasts visibility
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- <kbd>Esc</kbd> Quit
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# Credits
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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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143
car.svg
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car.svg
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|
||||
sodipodi:nodetypes="ccccc" />
|
||||
</g>
|
||||
<path
|
||||
style="fill:#e14324;fill-opacity:1;stroke-linecap:round;stroke-linejoin:round"
|
||||
d="m 16,33 v 13.999999 a 1.1327823,1.1327823 48.562508 0 0 0.992278,1.124035 l 7.007723,0.875965 h 24 l 11.003454,-0.916955 a 1.0867997,1.0867997 132.61818 0 0 0.996546,-1.083045 v -14 A 1.0867996,1.0867996 47.381818 0 0 59.003455,31.916954 L 48.000001,31 h -24 l -7.007723,0.875965 A 1.1327823,1.1327823 131.43749 0 0 16,33 Z"
|
||||
id="path1"
|
||||
inkscape:path-effect="#path-effect2"
|
||||
inkscape:original-d="m 16,32 v 15.999999 l 8.000001,1 h 24 l 12,-1 v -16 L 48.000001,31 h -24 z"
|
||||
inkscape:label="body" />
|
||||
<path
|
||||
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>
|
||||
|
After Width: | Height: | Size: 7.5 KiB |
41
scripts/example_bot.py
Normal file
41
scripts/example_bot.py
Normal file
@@ -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()
|
||||
26
src/bot.py
Normal file
26
src/bot.py
Normal file
@@ -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
|
||||
22
src/car.py
22
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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
import lzma
|
||||
from pathlib import Path
|
||||
import struct
|
||||
import time
|
||||
@@ -12,7 +13,7 @@ class RecordFile:
|
||||
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")
|
||||
self.file: lzma.LZMAFile = lzma.LZMAFile(self.path, self.mode)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
@@ -21,8 +22,7 @@ class RecordFile:
|
||||
self.file.close()
|
||||
|
||||
def write_header(self, n_snapshots: int):
|
||||
data: bytes = struct.pack(
|
||||
">IId", self.VERSION, n_snapshots, time.time())
|
||||
data: bytes = struct.pack(">IId", self.VERSION, n_snapshots, time.time())
|
||||
self.file.write(data)
|
||||
|
||||
def write_snapshots(self, snapshots: list[Snapshot]):
|
||||
@@ -35,7 +35,8 @@ class RecordFile:
|
||||
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})")
|
||||
f"Cannot parse record file with format version {version} (current version: {self.VERSION})"
|
||||
)
|
||||
|
||||
n_snapshots: int
|
||||
timestamp: float
|
||||
|
||||
@@ -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
|
||||
@@ -27,6 +28,7 @@ class RecorderClient(QObject):
|
||||
socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.timer: Optional[QTimer] = None
|
||||
self.connected: bool = False
|
||||
self.buffer: bytes = b""
|
||||
|
||||
@pyqtSlot()
|
||||
def start(self):
|
||||
@@ -39,27 +41,27 @@ class RecorderClient(QObject):
|
||||
print("Connected to server")
|
||||
|
||||
def poll_socket(self):
|
||||
buffer: bytes = b""
|
||||
if not self.connected:
|
||||
return
|
||||
|
||||
try:
|
||||
chunk: bytes = self.socket.recv(self.DATA_CHUNK_SIZE)
|
||||
if not chunk:
|
||||
return
|
||||
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
|
||||
chunk: bytes = self.socket.recv(self.DATA_CHUNK_SIZE)
|
||||
if not chunk:
|
||||
return
|
||||
self.buffer += chunk
|
||||
|
||||
message: bytes = buffer[4:msg_end]
|
||||
buffer = buffer[msg_end:]
|
||||
self.on_message(message)
|
||||
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:
|
||||
@@ -162,9 +164,11 @@ 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 +207,19 @@ 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
|
||||
@@ -227,7 +243,7 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
|
||||
|
||||
self.SAVE_DIR.mkdir(exist_ok=True)
|
||||
|
||||
record_name: str = "record_%d.rec"
|
||||
record_name: str = "record_%d.rec.xz"
|
||||
fid = 0
|
||||
while os.path.exists(self.SAVE_DIR / (record_name % fid)):
|
||||
fid += 1
|
||||
@@ -251,8 +267,15 @@ 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)
|
||||
|
||||
@@ -99,7 +99,7 @@
|
||||
<item>
|
||||
<widget class="QPushButton" name="resetButton">
|
||||
<property name="text">
|
||||
<string>Reset</string>
|
||||
<string>Rollback</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
@@ -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"))
|
||||
|
||||
@@ -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)
|
||||
|
||||
@@ -63,7 +63,7 @@ class Snapshot:
|
||||
(nbr_raycasts,), data = iter_unpack(">B", data)
|
||||
raycast_distances, data = iter_unpack(f">{nbr_raycasts}f", data)
|
||||
|
||||
(h, w), data = iter_unpack(">ii", data)
|
||||
(h, w), data = iter_unpack(">II", data)
|
||||
|
||||
if h * w > 0:
|
||||
image = np.frombuffer(data, np.uint8).reshape(h, w, 3)
|
||||
@@ -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
|
||||
|
||||
Reference in New Issue
Block a user