feat: initial implementation of image capture

README.md

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

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src/record_file.py

@@ -1,4 +1,3 @@
-import lzma
 from pathlib import Path
 import struct
 import time
@@ -13,7 +12,7 @@ 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: lzma.LZMAFile = lzma.LZMAFile(self.path, self.mode)
+        self.file = open(self.path, self.mode + "b")
 
     def __enter__(self):
         return self
@@ -22,7 +21,8 @@ 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]):
@@ -35,8 +35,7 @@ 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

src/recorder.py

@@ -243,7 +243,7 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
 
         self.SAVE_DIR.mkdir(exist_ok=True)
 
-        record_name: str = "record_%d.rec.xz"
+        record_name: str = "record_%d.rec"
         fid = 0
         while os.path.exists(self.SAVE_DIR / (record_name % fid)):
             fid += 1