feat: initial implementation of image capture

.gitignore

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

README.md

@@ -0,0 +1,59 @@
+<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)

car.svg

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logo.svg

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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()

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

@@ -45,3 +45,6 @@ class Camera:
         screen_delta: Vec = Vec(dx, dy) * self.zoom * self.UNIT_RATIO
         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

@@ -1,5 +1,7 @@
+from __future__ import annotations
+
 from math import radians
-from typing import Optional
+from typing import TYPE_CHECKING, Optional
 
 import pygame
 
@@ -8,7 +10,11 @@ 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)
+if TYPE_CHECKING:
+    from src.game import Game
+
+
+def sign(x): return 0 if x == 0 else (-1 if x < 0 else 1)
 
 
 class Car:
@@ -16,6 +22,7 @@ class Car:
     MAX_BACK_SPEED = -3
     ROTATE_SPEED = 1
     COLOR = (230, 150, 80)
+    CTRL_COLOR = (80, 230, 150)
     WIDTH = 0.4
     LENGTH = 0.6
     COLLISION_MARGIN = 0.4
@@ -25,7 +32,10 @@ class Car:
     RAYS_FOV = 180
     RAYS_MAX_DIST = 100
 
-    def __init__(self, pos: Vec, direction: Vec) -> None:
+    def __init__(self, game: Game, pos: Vec, direction: Vec) -> None:
+        self.game: Game = game
+        self.initial_pos: Vec = pos.copy()
+        self.initial_dir: Vec = direction.copy()
         self.pos: Vec = pos
         self.direction: Vec = direction
         self.speed: float = 0
@@ -38,7 +48,7 @@ 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: RemoteController = RemoteController(self.game, self)
         self.controller.start_server()
 
     def update(self, dt: float):
@@ -76,12 +86,21 @@ 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]
         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
@@ -118,14 +137,17 @@ 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]:
@@ -152,3 +174,8 @@ 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

@@ -5,9 +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):
@@ -29,8 +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()
@@ -42,8 +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):
@@ -64,3 +69,41 @@ 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)
+
+
+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

@@ -19,10 +19,11 @@ class Game:
         self.win: pygame.Surface = pygame.display.set_mode(
             self.DEFAULT_SIZE, pygame.RESIZABLE
         )
+        self.game_surf: pygame.Surface = pygame.Surface(self.DEFAULT_SIZE)
         pygame.display.set_caption("Rally Racer")
         self.running: bool = True
         self.track: Track = Track.load("simple")
-        self.car: Car = Car(self.track.start_pos, self.track.start_dir)
+        self.car: Car = Car(self, self.track.start_pos, self.track.start_dir)
         self.camera: Camera = Camera()
 
         self.clock: pygame.time.Clock = pygame.time.Clock()
@@ -49,6 +50,7 @@ class Game:
             if event.type == pygame.QUIT:
                 self.quit()
             elif event.type == pygame.VIDEORESIZE:
+                self.game_surf = pygame.Surface((event.w, event.h))
                 self.camera.set_size(Vec(event.w, event.h))
             elif event.type == pygame.KEYDOWN:
                 if event.key == pygame.K_ESCAPE:
@@ -68,9 +70,10 @@ class Game:
         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.show_raycasts)
+        self.game_surf.fill(self.BACKGROUND_COLOR)
+        self.track.render(self.game_surf, self.camera)
+        self.car.render(self.game_surf, self.camera, self.show_raycasts)
+        self.win.blit(self.game_surf, (0, 0))
         if self.show_fps:
             self.render_fps()
         if self.show_speed:

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 = 65536
+    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

@@ -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

@@ -6,15 +6,18 @@ import struct
 import threading
 from typing import TYPE_CHECKING, Optional
 
-from src.command import CarControl, Command, ControlCommand
+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
+    from src.game import Game
 
 
 class RemoteController:
     DEFAULT_PORT = 5000
-    DATA_CHUNK_SIZE = 4096
+    DATA_CHUNK_SIZE = 65536
 
     CONTROL_ATTRIBUTES: dict[CarControl, str] = {
         CarControl.FORWARD: "forward",
@@ -23,10 +26,14 @@ class RemoteController:
         CarControl.RIGHT: "right",
     }
 
-    def __init__(self, car: Car, port: int = DEFAULT_PORT) -> None:
+    SNAPSHOT_INTERVAL = 0.1
+
+    def __init__(self, game: Game, car: Car, port: int = DEFAULT_PORT) -> None:
+        self.game: Game = game
         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 +41,14 @@ 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:
+        return self.client is not None
 
     def wait_for_connections(self):
         self.server.bind(("", self.port))
@@ -52,6 +67,7 @@ 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):
@@ -103,6 +119,23 @@ class RemoteController:
         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)
+        snapshot.add_image(self.game)
+        payload: bytes = snapshot.pack()
+        self.client.sendall(struct.pack(">I", len(payload)) + payload)

src/snapshot.py

@@ -2,12 +2,17 @@ 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
+import pygame
 
 from src.vec import Vec
 
+if TYPE_CHECKING:
+    from src.car import Car
+    from src.game import Game
+
 
 def iter_unpack(format, data):
     nbr_bytes = struct.calcsize(format)
@@ -20,7 +25,8 @@ 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 +42,12 @@ 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)
@@ -57,7 +65,7 @@ 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)
@@ -72,3 +80,27 @@ 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
+        )
+
+    def apply(self, car: Car):
+        car.pos = self.position.copy()
+        car.direction = self.direction.copy()
+        car.speed = 0
+
+    def add_image(self, game: Game):
+        self.image = pygame.surfarray.array3d(game.game_surf)

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)