feat: add remote controller server

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",
+]

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 +43,5 @@ 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

src/car.py

@@ -4,10 +4,10 @@ from typing import Optional
 import pygame
 
 from src.camera import Camera
+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)
 
 
@@ -38,6 +38,9 @@ class Car:
         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 += self.ACCELERATION * dt

src/command.py

@@ -0,0 +1,66 @@
+from __future__ import annotations
+
+import abc
+from enum import IntEnum
+import struct
+from typing import Type
+
+
+class CommandType(IntEnum):
+    CAR_CONTROL = 0
+
+
+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
+
+    @abc.abstractmethod
+    def get_payload(self) -> bytes: ...
+
+    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
+    @abc.abstractmethod
+    def from_payload(cls, payload: bytes) -> Command: ...
+
+
+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)

src/game.py

@@ -37,6 +37,7 @@ class Game:
         while self.running:
             dt: float = self.clock.get_time() / 1000
             self.process_pygame_events()
+            self.car.controller.process_commands()
             self.car.update(dt)
             self.car.check_collisions(self.track.get_collision_polygons())
             self.update_camera()
@@ -64,6 +65,7 @@ class Game:
 
     def quit(self):
         self.running = False
+        self.car.controller.close()
 
     def render(self):
         self.win.fill(self.BACKGROUND_COLOR)

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>Reset</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 6.8.0
+#
+# 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", "Reset"))
+        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 +1,108 @@
+from __future__ import annotations
+
+import queue
+import socket
+import struct
+import threading
+from typing import TYPE_CHECKING, Optional
+
+from src.command import CarControl, Command, ControlCommand
+
+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",
+    }
+
+    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
+
+    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.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)
+
+    def set_control(self, control: CarControl, active: bool):
+        setattr(self.car, self.CONTROL_ATTRIBUTES[control], active)

src/snapshot.py

@@ -0,0 +1,74 @@
+from __future__ import annotations
+
+import struct
+from dataclasses import dataclass, field
+from typing import Optional
+
+import numpy as np
+
+from src.vec import Vec
+
+
+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,
+        )

uv.lock

@@ -2,6 +2,58 @@ version = 1
 revision = 3
 requires-python = ">=3.13"
 
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+name = "numpy"
+version = "2.3.4"
+source = { registry = "https://pypi.org/simple" }
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+wheels = [
+    { url = "https://files.pythonhosted.org/packages/57/7e/b72610cc91edf138bc588df5150957a4937221ca6058b825b4725c27be62/numpy-2.3.4-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:c090d4860032b857d94144d1a9976b8e36709e40386db289aaf6672de2a81966", size = 20950335, upload-time = "2025-10-15T16:16:10.304Z" },
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