feat: implement controller interface

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/recorder.py

@@ -0,0 +1,181 @@
+import socket
+import struct
+
+from PyQt6 import uic
+from PyQt6.QtCore import QObject, Qt, QThread, QTimer, pyqtSignal, pyqtSlot
+from PyQt6.QtWidgets import QMainWindow
+
+from src.command import CarControl, Command, ControlCommand
+from src.recorder_ui import Ui_Recorder
+from src.snapshot import Snapshot
+
+
+class RecorderClient(QObject):
+    DATA_CHUNK_SIZE = 4096
+    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: QTimer = QTimer(self)
+        self.timer.timeout.connect(self.poll_socket)
+        self.connected: bool = False
+
+    @pyqtSlot()
+    def start(self):
+        self.socket.connect((self.host, self.port))
+        self.socket.setblocking(False)
+        self.connected = True
+        self.timer.start(50)
+        print(f"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
+
+                message: bytes = buffer[4:msg_end]
+                buffer = 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")
+        self.timer.stop()
+        self.connected = False
+        self.socket.close()
+
+
+class RecorderWindow(Ui_Recorder, QMainWindow):
+    close_signal: pyqtSignal = pyqtSignal()
+    send_signal: pyqtSignal = pyqtSignal(object)
+
+    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.command_directions = {
+            "w": CarControl.FORWARD,
+            "s": CarControl.BACKWARD,
+            "d": CarControl.RIGHT,
+            "a": CarControl.LEFT,
+        }
+
+        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.autopiloting = False
+
+        self.autopilotButton.clicked.connect(self.toggle_autopilot)
+
+        self.saveRecordButton.clicked.connect(self.save_record)
+
+        self.recording = False
+
+        self.recorded_data = []
+        self.client_thread.start()
+
+    def on_car_controlled(self, control: CarControl, active: bool):
+        self.send_command(ControlCommand(control, active))
+
+    def toggle_record(self):
+        pass
+
+    def rollback(self):
+        pass
+
+    def toggle_autopilot(self):
+        self.autopiloting = not self.autopiloting
+        self.autopilotButton.setText(
+            "AutoPilot:\n" + ("ON" if self.autopiloting else "OFF")
+        )
+
+    def save_record(self):
+        pass
+
+    @pyqtSlot(Snapshot)
+    def on_snapshot_received(self, snapshot: Snapshot):
+        self.recorded_data.append(snapshot)
+        self.nbrSnapshotSaved.setText(str(len(self.recorded_data)))
+
+    def shutdown(self):
+        self.close_signal.emit()
+
+    def send_command(self, command: Command):
+        self.send_signal.emit(command)