chore: change logo in README

.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)

assets/tracks/simple/meta.json

@@ -0,0 +1,13 @@
+{
+    "name": "Simple Track",
+    "start": {
+        "pos": [
+            30,
+            0
+        ],
+        "direction": [
+            0,
+            1
+        ]
+    }
+}

assets/tracks/simple/track.json

@@ -0,0 +1,259 @@
+[
+    {
+        "type": "road",
+        "pts": [
+            [
+                30.0,
+                0.0,
+                1.0,
+                0.0,
+                1
+            ],
+            [
+                29.544,
+                5.209,
+                0.985,
+                0.174,
+                1
+            ],
+            [
+                28.191,
+                10.261,
+                0.94,
+                0.342,
+                1
+            ],
+            [
+                25.981,
+                15.0,
+                0.866,
+                0.5,
+                1
+            ],
+            [
+                22.981,
+                19.284,
+                0.766,
+                0.643,
+                1
+            ],
+            [
+                19.284,
+                22.981,
+                0.643,
+                0.766,
+                1
+            ],
+            [
+                15.0,
+                25.981,
+                0.5,
+                0.866,
+                1
+            ],
+            [
+                10.261,
+                28.191,
+                0.342,
+                0.94,
+                1
+            ],
+            [
+                5.209,
+                29.544,
+                0.174,
+                0.985,
+                1
+            ],
+            [
+                0.0,
+                30.0,
+                0.0,
+                1.0,
+                1
+            ],
+            [
+                -5.209,
+                29.544,
+                -0.174,
+                0.985,
+                1
+            ],
+            [
+                -10.261,
+                28.191,
+                -0.342,
+                0.94,
+                1
+            ],
+            [
+                -15.0,
+                25.981,
+                -0.5,
+                0.866,
+                1
+            ],
+            [
+                -19.284,
+                22.981,
+                -0.643,
+                0.766,
+                1
+            ],
+            [
+                -22.981,
+                19.284,
+                -0.766,
+                0.643,
+                1
+            ],
+            [
+                -25.981,
+                15.0,
+                -0.866,
+                0.5,
+                1
+            ],
+            [
+                -28.191,
+                10.261,
+                -0.94,
+                0.342,
+                1
+            ],
+            [
+                -29.544,
+                5.209,
+                -0.985,
+                0.174,
+                1
+            ],
+            [
+                -30.0,
+                0.0,
+                -1.0,
+                0.0,
+                1
+            ],
+            [
+                -29.544,
+                -5.209,
+                -0.985,
+                -0.174,
+                1
+            ],
+            [
+                -28.191,
+                -10.261,
+                -0.94,
+                -0.342,
+                1
+            ],
+            [
+                -25.981,
+                -15.0,
+                -0.866,
+                -0.5,
+                1
+            ],
+            [
+                -22.981,
+                -19.284,
+                -0.766,
+                -0.643,
+                1
+            ],
+            [
+                -19.284,
+                -22.981,
+                -0.643,
+                -0.766,
+                1
+            ],
+            [
+                -15.0,
+                -25.981,
+                -0.5,
+                -0.866,
+                1
+            ],
+            [
+                -10.261,
+                -28.191,
+                -0.342,
+                -0.94,
+                1
+            ],
+            [
+                -5.209,
+                -29.544,
+                -0.174,
+                -0.985,
+                1
+            ],
+            [
+                -0.0,
+                -30.0,
+                -0.0,
+                -1.0,
+                1
+            ],
+            [
+                5.209,
+                -29.544,
+                0.174,
+                -0.985,
+                1
+            ],
+            [
+                10.261,
+                -28.191,
+                0.342,
+                -0.94,
+                1
+            ],
+            [
+                15.0,
+                -25.981,
+                0.5,
+                -0.866,
+                1
+            ],
+            [
+                19.284,
+                -22.981,
+                0.643,
+                -0.766,
+                1
+            ],
+            [
+                22.981,
+                -19.284,
+                0.766,
+                -0.643,
+                1
+            ],
+            [
+                25.981,
+                -15.0,
+                0.866,
+                -0.5,
+                1
+            ],
+            [
+                28.191,
+                -10.261,
+                0.94,
+                -0.342,
+                1
+            ],
+            [
+                29.544,
+                -5.209,
+                0.985,
+                -0.174,
+                1
+            ]
+        ]
+    }
+]

car.svg

@@ -0,0 +1,143 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   width="64"
+   height="64"
+   viewBox="0 0 64 64.000003"
+   version="1.1"
+   id="svg1"
+   inkscape:version="1.4.2 (ebf0e940d0, 2025-05-08)"
+   sodipodi:docname="car.svg"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <sodipodi:namedview
+     id="namedview1"
+     pagecolor="#ffffff"
+     bordercolor="#000000"
+     borderopacity="0.25"
+     inkscape:showpageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     inkscape:deskcolor="#d1d1d1"
+     inkscape:document-units="mm"
+     showgrid="true"
+     inkscape:zoom="11.313709"
+     inkscape:cx="42.470601"
+     inkscape:cy="34.957591"
+     inkscape:window-width="1920"
+     inkscape:window-height="1016"
+     inkscape:window-x="0"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="layer1">
+    <inkscape:grid
+       id="grid1"
+       units="px"
+       originx="0"
+       originy="0"
+       spacingx="1"
+       spacingy="1"
+       empcolor="#0099e5"
+       empopacity="0.30196078"
+       color="#0099e5"
+       opacity="0.14901961"
+       empspacing="8"
+       enabled="true"
+       visible="true" />
+  </sodipodi:namedview>
+  <defs
+     id="defs1">
+    <inkscape:path-effect
+       effect="fillet_chamfer"
+       id="path-effect3"
+       is_visible="true"
+       lpeversion="1"
+       nodesatellites_param="F,0,0,1,0,1.0000002,0,1 @ F,0,1,1,0,1.0000002,0,1 @ F,0,1,1,0,1.0000002,0,1 @ F,0,1,1,0,1.0000002,0,1"
+       radius="0"
+       unit="px"
+       method="auto"
+       mode="F"
+       chamfer_steps="1"
+       flexible="false"
+       use_knot_distance="true"
+       apply_no_radius="true"
+       apply_with_radius="true"
+       only_selected="false"
+       hide_knots="false" />
+    <inkscape:path-effect
+       effect="fillet_chamfer"
+       id="path-effect2"
+       is_visible="true"
+       lpeversion="1"
+       nodesatellites_param="F,0,1,1,0,1.0000001,0,1 @ F,0,1,1,0,1.0000001,0,1 @ F,0,0,1,0,0,0,1 @ F,0,0,1,0,0,0,1 @ F,0,0,1,0,1.0000001,0,1 @ F,0,1,1,0,1.0000001,0,1 @ F,0,0,1,0,0,0,1 @ F,0,0,1,0,0,0,1"
+       radius="0"
+       unit="px"
+       method="auto"
+       mode="F"
+       chamfer_steps="1"
+       flexible="false"
+       use_knot_distance="true"
+       apply_no_radius="true"
+       apply_with_radius="true"
+       only_selected="false"
+       hide_knots="false" />
+  </defs>
+  <g
+     inkscape:label="Calque 1"
+     inkscape:groupmode="layer"
+     id="layer1">
+    <g
+       id="g5"
+       inkscape:label="car"
+       transform="translate(-5.9999998,-7.9999997)">
+      <g
+         id="g4"
+         inkscape:label="wheels">
+        <path
+           style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+           d="m 25.000001,31.999999 v -2 h 4 v 2 z"
+           id="path2"
+           sodipodi:nodetypes="ccccc" />
+        <path
+           style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+           d="m 43.000001,31.999999 v -2 h 4 v 2 z"
+           id="path2-3"
+           sodipodi:nodetypes="ccccc" />
+        <path
+           style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+           d="m 25.000001,49.999999 v -2 h 4 v 2 z"
+           id="path2-1"
+           sodipodi:nodetypes="ccccc" />
+        <path
+           style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+           d="m 43.000001,49.999999 v -2 h 4 v 2 z"
+           id="path2-3-2"
+           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>
+</svg>

logo.svg

@@ -0,0 +1,202 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   width="64"
+   height="64"
+   viewBox="0 0 64 64.000003"
+   version="1.1"
+   id="svg1"
+   inkscape:version="1.4.2 (ebf0e940d0, 2025-05-08)"
+   sodipodi:docname="logo.svg"
+   inkscape:export-filename="logo.png"
+   inkscape:export-xdpi="768"
+   inkscape:export-ydpi="768"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <sodipodi:namedview
+     id="namedview1"
+     pagecolor="#ffffff"
+     bordercolor="#000000"
+     borderopacity="0.25"
+     inkscape:showpageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     inkscape:deskcolor="#d1d1d1"
+     inkscape:document-units="mm"
+     showgrid="true"
+     inkscape:zoom="11.313709"
+     inkscape:cx="31.952386"
+     inkscape:cy="30.803338"
+     inkscape:window-width="1920"
+     inkscape:window-height="1016"
+     inkscape:window-x="0"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="layer1"
+     inkscape:export-bgcolor="#ffffffff">
+    <inkscape:grid
+       id="grid1"
+       units="px"
+       originx="0"
+       originy="0"
+       spacingx="1"
+       spacingy="1"
+       empcolor="#0099e5"
+       empopacity="0.30196078"
+       color="#0099e5"
+       opacity="0.14901961"
+       empspacing="8"
+       enabled="true"
+       visible="true" />
+  </sodipodi:namedview>
+  <defs
+     id="defs1">
+    <inkscape:path-effect
+       effect="fillet_chamfer"
+       id="path-effect3"
+       is_visible="true"
+       lpeversion="1"
+       nodesatellites_param="F,0,0,1,0,1.0000002,0,1 @ F,0,1,1,0,1.0000002,0,1 @ F,0,1,1,0,1.0000002,0,1 @ F,0,1,1,0,1.0000002,0,1"
+       radius="0"
+       unit="px"
+       method="auto"
+       mode="F"
+       chamfer_steps="1"
+       flexible="false"
+       use_knot_distance="true"
+       apply_no_radius="true"
+       apply_with_radius="true"
+       only_selected="false"
+       hide_knots="false" />
+    <inkscape:path-effect
+       effect="fillet_chamfer"
+       id="path-effect2"
+       is_visible="true"
+       lpeversion="1"
+       nodesatellites_param="F,0,1,1,0,1.0000001,0,1 @ F,0,1,1,0,1.0000001,0,1 @ F,0,0,1,0,0,0,1 @ F,0,0,1,0,0,0,1 @ F,0,0,1,0,1.0000001,0,1 @ F,0,1,1,0,1.0000001,0,1 @ F,0,0,1,0,0,0,1 @ F,0,0,1,0,0,0,1"
+       radius="0"
+       unit="px"
+       method="auto"
+       mode="F"
+       chamfer_steps="1"
+       flexible="false"
+       use_knot_distance="true"
+       apply_no_radius="true"
+       apply_with_radius="true"
+       only_selected="false"
+       hide_knots="false" />
+  </defs>
+  <g
+     inkscape:label="Calque 1"
+     inkscape:groupmode="layer"
+     id="layer1">
+    <g
+       id="g14"
+       transform="matrix(1.12,0,0,1.12,-6.6400002,3.1600025)">
+      <path
+         id="path13"
+         style="fill:none;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+         d="m 38,43.499998 -11,-21 m 0,0 -9,20 M 50,32.749996 38,43.499998 M 53,16.749997 50,32.749996 M 40.000001,7.9999998 27,22.499998 M 16,7.9999998 27,22.499998"
+         sodipodi:nodetypes="cccccccccccc" />
+      <g
+         id="g13">
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5"
+           cx="16"
+           cy="8"
+           r="3" />
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5-3"
+           cx="40"
+           cy="7.9999995"
+           r="3" />
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5-1"
+           cx="27"
+           cy="22.499998"
+           r="3" />
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5-6"
+           cx="38"
+           cy="43.499996"
+           r="3" />
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5-18"
+           cx="18"
+           cy="42.499996"
+           r="3" />
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5-2"
+           cx="50"
+           cy="32.749996"
+           r="3" />
+        <circle
+           style="fill:#ffffff;fill-opacity:1;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-opacity:1"
+           id="path5-22"
+           cx="53"
+           cy="16.749996"
+           r="3" />
+      </g>
+      <g
+         id="g5"
+         inkscape:label="car"
+         transform="matrix(0.1163734,0.24290774,-0.24290774,0.1163734,38.296019,19.616451)"
+         style="display:inline">
+        <g
+           id="g4"
+           inkscape:label="wheels">
+          <path
+             style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+             d="m 25.000001,31.999999 v -2 h 4 v 2 z"
+             id="path2"
+             sodipodi:nodetypes="ccccc" />
+          <path
+             style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+             d="m 43.000001,31.999999 v -2 h 4 v 2 z"
+             id="path2-3"
+             sodipodi:nodetypes="ccccc" />
+          <path
+             style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+             d="m 25.000001,49.999999 v -2 h 4 v 2 z"
+             id="path2-1"
+             sodipodi:nodetypes="ccccc" />
+          <path
+             style="fill:#000000;stroke-linecap:round;stroke-linejoin:round"
+             d="m 43.000001,49.999999 v -2 h 4 v 2 z"
+             id="path2-3-2"
+             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>

main.py

@@ -4,6 +4,7 @@ from src.game import Game
 def main():
     print("Welcome to Rally Racer !")
     game: Game = Game()
+    game.mainloop()
 
 
 if __name__ == "__main__":

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",
+]

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()

scripts/track_gen.py

@@ -0,0 +1,40 @@
+import json
+from math import radians
+from pathlib import Path
+from src.utils import ROOT
+from src.vec import Vec
+
+
+def gen_circle(
+    folder: Path, center: Vec, radius: float, n_sides: int, width: float = 1
+):
+    with open(folder / "track.json", "w") as f:
+        pts: list[tuple[float, ...]] = []
+
+        for i in range(n_sides):
+            angle: float = radians(i / n_sides * 360)
+            v: Vec = Vec(1, 0).rotate(angle)
+            pos: Vec = center + v * radius
+            normal: Vec = v
+            pts.append((pos.x, pos.y, normal.x, normal.y, width))
+
+        for i, pt in enumerate(pts):
+            pts[i] = tuple(round(v, 3) for v in pt)
+
+        json.dump([{"type": "road", "pts": pts}], f, indent=4)
+
+    with open(folder / "meta.json", "r") as f:
+        meta: dict = json.load(f)
+
+    meta["start"] = {"pos": [radius, 0], "direction": [0, 1]}
+    with open(folder / "meta.json", "w") as f:
+        json.dump(meta, f, indent=4)
+
+
+def main():
+    folder: Path = ROOT / "assets" / "tracks" / "simple"
+    gen_circle(folder, Vec(0, 0), 30, 36)
+
+
+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

@@ -0,0 +1,50 @@
+from src.vec import Vec
+
+
+class Camera:
+    UNIT_RATIO = 150
+
+    def __init__(self) -> None:
+        self.pos: Vec = Vec()
+        self.up: Vec = Vec(0, -1)
+        self.size: Vec = Vec(600, 600)
+        self.zoom: float = 1
+
+    def set_pos(self, pos: Vec):
+        self.pos = pos
+
+    def set_direction(self, up: Vec):
+        self.up = up.normalized
+
+    def set_size(self, size: Vec):
+        self.size = size
+
+    @property
+    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.car_screen_pos
+        delta /= self.zoom * self.UNIT_RATIO
+        dx: float = delta.x
+        dy: float = delta.y
+
+        v1: Vec = self.up.perp * dx
+        v2: Vec = self.up * dy
+
+        return self.pos + v1 + v2
+
+    def world2screen(self, world_pos: Vec) -> Vec:
+        delta: Vec = world_pos - self.pos
+        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.car_screen_pos + screen_delta
+        return screen_pos
+
+    def size2screen(self, size: float) -> float:
+        return size * self.zoom * self.UNIT_RATIO

src/car.py

@@ -0,0 +1,175 @@
+from math import radians
+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
+
+
+def sign(x): return 0 if x == 0 else (-1 if x < 0 else 1)
+
+
+class Car:
+    MAX_SPEED = 5
+    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
+    ACCELERATION = 2
+    FRICTION = 2.5
+    N_RAYS = 15
+    RAYS_FOV = 180
+    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
+        self.forward: bool = False
+        self.backward: bool = False
+        self.left: bool = False
+        self.right: bool = False
+        self.colliding: bool = False
+
+        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
+            self.speed = min(self.MAX_SPEED, self.speed)
+
+        if self.backward:
+            self.speed -= self.ACCELERATION * 2 * dt
+            self.speed = max(self.MAX_BACK_SPEED, self.speed)
+
+        rotate_angle: float = 0
+        if self.left:
+            rotate_angle -= self.ROTATE_SPEED * dt
+        if self.right:
+            rotate_angle += self.ROTATE_SPEED * dt
+
+        # if self.backward:
+        #    rotate_angle *= -1
+
+        if rotate_angle != 0:
+            self.direction = self.direction.rotate(rotate_angle)
+
+        if not self.forward and not self.backward:
+            fn = max if self.speed >= 0 else min
+            self.speed -= sign(self.speed) * self.FRICTION * dt
+            self.speed = fn(0, self.speed)
+
+        if abs(self.speed) < 1e-4:
+            self.speed = 0
+
+        self.pos += self.direction * self.speed * dt
+
+    def render(self, surf: pygame.Surface, camera: Camera, show_raycasts: bool = False):
+        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)
+
+        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
+        pt: Vec = self.pos
+        p1: Vec = pt + u + v
+        p2: Vec = pt - u + v
+        p3: Vec = pt - u - v
+        p4: Vec = pt + u - v
+        return [p1, p2, p3, p4]
+
+    def check_collisions(self, polygons: list[list[Vec]]):
+        self.cast_rays(polygons)
+
+        self.colliding = False
+        corners: list[Vec] = self.get_corners()
+        sides: list[tuple[Vec, Vec]] = [
+            (corners[i], corners[(i + 1) % 4]) for i in range(4)
+        ]
+
+        for polygon in polygons:
+            n_pts: int = len(polygon)
+            for i in range(n_pts):
+                pt1: Vec = polygon[i]
+                pt2: Vec = polygon[(i + 1) % n_pts]
+                d: Vec = pt2 - pt1
+
+                for s1, s2 in sides:
+                    if segments_intersect(s1, s2, pt1, pt2):
+                        self.colliding = True
+                        self.direction = d.normalized
+                        n: Vec = self.direction.perp
+                        dist: float = (self.pos - pt1).dot(n)
+                        if dist < 0:
+                            n *= -1
+                            dist = -dist
+                        self.speed = 0
+                        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)
+            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_end[i] = self.pos if p is None else p
+
+    def cast_ray(self, angle: float, polygons: list[list[Vec]]) -> Optional[Vec]:
+        v: Vec = self.direction.normalized.rotate(angle)
+
+        segments: list[tuple[Vec, Vec]] = []
+        for polygon in polygons:
+            n_pts: int = len(polygon)
+            for i in range(n_pts):
+                pt1: Vec = polygon[i]
+                pt2: Vec = polygon[(i + 1) % n_pts]
+                segments.append((pt1, pt2))
+
+        p1: Vec = self.pos
+        p2: Vec = p1 + v * self.RAYS_MAX_DIST
+        dist: float = self.RAYS_MAX_DIST
+        closest: Optional[Vec] = None
+
+        for q1, q2 in segments:
+            p: Optional[Vec] = get_segments_intersection(p1, p2, q1, q2)
+            if p is not None:
+                d: float = (p - p1).mag()
+                if d < dist:
+                    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

@@ -0,0 +1,109 @@
+from __future__ import annotations
+
+import abc
+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):
+    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
+
+    def get_payload(self) -> bytes:
+        return b""
+
+    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
+    def from_payload(cls, payload: bytes) -> Command:
+        return cls()
+
+
+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)
+
+
+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

@@ -1,9 +1,142 @@
+from math import cos, radians, sin
 import pygame
 
+from src.camera import Camera
+from src.car import Car
+from src.track import Track
+from src.utils import ROOT
+from src.vec import Vec
+
 
 class Game:
     DEFAULT_SIZE = (1280, 720)
+    BACKGROUND_COLOR = (80, 80, 80)
+    MAX_FPS = 60
+    FPS_COLOR = (255, 0, 0)
 
-    def __init__(self):
+    def __init__(self) -> None:
         pygame.init()
-        self.win: pygame.Surface = pygame.display.set_mode(self.DEFAULT_SIZE)
+        self.win: pygame.Surface = pygame.display.set_mode(
+            self.DEFAULT_SIZE, pygame.RESIZABLE
+        )
+        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.camera: Camera = Camera()
+
+        self.clock: pygame.time.Clock = pygame.time.Clock()
+        self.font: pygame.font.Font = pygame.font.Font(
+            str(ROOT / "assets" / "fonts" / "Ubuntu-M.ttf"), 20
+        )
+        self.show_fps: bool = True
+        self.show_speed: bool = True
+        self.show_raycasts: bool = True
+
+    def mainloop(self):
+        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()
+            self.render()
+            self.clock.tick(60)
+
+    def process_pygame_events(self):
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                self.quit()
+            elif event.type == pygame.VIDEORESIZE:
+                self.camera.set_size(Vec(event.w, event.h))
+            elif event.type == pygame.KEYDOWN:
+                if event.key == pygame.K_ESCAPE:
+                    self.quit()
+                else:
+                    self.on_key_down(event)
+            elif event.type == pygame.KEYUP:
+                self.on_key_up(event)
+
+    def update_camera(self):
+        self.camera.set_pos(self.car.pos)
+        self.camera.set_direction(self.car.direction)
+        self.camera.set_size(Vec(*self.win.get_size()))
+
+    def quit(self):
+        self.running = False
+        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)
+        if self.show_fps:
+            self.render_fps()
+        if self.show_speed:
+            self.render_speedometer()
+
+        pygame.display.flip()
+
+    def on_key_down(self, event: pygame.event.Event):
+        if event.key == pygame.K_w:
+            self.car.forward = True
+        elif event.key == pygame.K_s:
+            self.car.backward = True
+        elif event.key == pygame.K_a:
+            self.car.left = True
+        elif event.key == pygame.K_d:
+            self.car.right = True
+        elif event.key == pygame.K_f:
+            self.show_fps = not self.show_fps
+        elif event.key == pygame.K_v:
+            self.show_speed = not self.show_speed
+        elif event.key == pygame.K_c:
+            self.show_raycasts = not self.show_raycasts
+        elif event.key == pygame.K_r:
+            self.reset()
+
+    def on_key_up(self, event: pygame.event.Event):
+        if event.key == pygame.K_w:
+            self.car.forward = False
+        elif event.key == pygame.K_s:
+            self.car.backward = False
+        elif event.key == pygame.K_a:
+            self.car.left = False
+        elif event.key == pygame.K_d:
+            self.car.right = False
+
+    def render_fps(self):
+        txt: pygame.Surface = self.font.render(
+            f"{self.clock.get_fps():.1f}", True, self.FPS_COLOR
+        )
+        self.win.blit(txt, (self.win.get_width() - txt.get_width(), 0))
+
+    def render_speedometer(self):
+        if self.car.speed == 0:
+            return
+        angle: float = self.car.speed / self.car.MAX_SPEED * 180
+
+        pts1: list[tuple[float, float]] = []
+        pts2: list[tuple[float, float]] = []
+
+        n: int = 30
+        r: float = 50
+        ox: float = r + 10
+        oy: float = r + 10
+        thickness: float = 5
+        r2: float = r - thickness
+
+        for i in range(n):
+            a: float = radians(angle * i / (n - 1))
+            dx: float = -cos(a)
+            dy: float = -sin(a)
+            pts1.append((ox + r * dx, oy + r * dy))
+            pts2.append((ox + r2 * dx, oy + r2 * dy))
+
+        pygame.draw.polygon(self.win, (200, 200, 200), pts1 + pts2[::-1])
+
+    def reset(self):
+        self.car.pos = self.track.start_pos
+        self.car.direction = self.track.start_dir
+        self.car.speed = 0

src/objects/road.py

@@ -0,0 +1,119 @@
+from __future__ import annotations
+
+import pygame
+
+from src.camera import Camera
+from src.track_object import TrackObject, TrackObjectType
+from src.vec import Vec
+
+
+class Road(TrackObject):
+    type = TrackObjectType.Road
+
+    STRIP_LENGTH = 0.5
+    STRIP_GAP = 0.5
+
+    def __init__(self, pts: list[RoadPoint]) -> None:
+        super().__init__()
+        self.pts: list[RoadPoint] = pts
+        self.strips: list[tuple[Vec, Vec]] = []
+        self.compute_strips()
+
+    @classmethod
+    def load(cls, data: dict) -> Road:
+        return Road([RoadPoint.load(pt) for pt in data["pts"]])
+
+    def render(self, surf: pygame.Surface, camera: Camera):
+        side1: list[Vec] = []
+        side2: list[Vec] = []
+
+        for i, pt in enumerate(self.pts):
+            p1: Vec = pt.pos
+            p2: Vec = p1 + pt.normal * pt.width
+            p3: Vec = p1 - pt.normal * pt.width
+            side1.append(camera.world2screen(p2))
+            side2.append(camera.world2screen(p3))
+
+        n: int = len(self.pts)
+        for i in range(n):
+            pygame.draw.polygon(
+                surf,
+                (100, 100, 100),
+                [side1[i], side1[(i + 1) % n], side2[(i + 1) % n], side2[i]],
+            )
+
+        pygame.draw.lines(surf, (255, 255, 255), True, side1)
+        pygame.draw.lines(surf, (255, 255, 255), True, side2)
+
+        for p1, p2 in self.strips:
+            pygame.draw.line(
+                surf,
+                (255, 255, 255),
+                camera.world2screen(p1),
+                camera.world2screen(p2),
+                6,
+            )
+
+    def get_collision_polygons(self) -> list[list[Vec]]:
+        side1: list[Vec] = []
+        side2: list[Vec] = []
+        for pt in self.pts:
+            p1: Vec = pt.pos
+            p2: Vec = p1 + pt.normal * pt.width
+            p3: Vec = p1 - pt.normal * pt.width
+            side1.append(p2)
+            side2.append(p3)
+        return [side1, side2]
+
+    def compute_strips(self):
+        n: int = len(self.pts)
+        vecs: list[Vec] = [
+            self.pts[(i + 1) % n].pos - pt.pos for i, pt in enumerate(self.pts)
+        ]
+        lengths: list[float] = [v.mag() for v in vecs]
+        cum_sums: list[float] = [0]
+        for l in lengths:
+            cum_sums.append(cum_sums[-1] + l)
+        self.strips = []
+        total_length: float = sum(lengths)
+
+        def get_pt(length: float) -> tuple[int, float]:
+            length %= total_length
+            for i, cs in list(enumerate(cum_sums))[::-1]:
+                if cs <= length:
+                    return (i, (length - cs) / lengths[i])
+            raise ValueError()
+
+        l0: float = 0
+        while l0 < total_length:
+            l1: float = l0 + self.STRIP_LENGTH
+            i0, t0 = get_pt(l0)
+            i1, t1 = get_pt(l1)
+            p0: Vec = self.pts[i0].pos + vecs[i0] * t0
+            p1: Vec = self.pts[i1].pos + vecs[i1] * t1
+            if i0 == i1:
+                self.strips.append((p0, p1))
+            elif (i0 + 1) % n == i1:
+                pm: Vec = self.pts[i1].pos
+                self.strips.append((p0, pm))
+                self.strips.append((pm, p1))
+            else:
+                self.strips.append((p0, self.pts[(i0 + 1) % n].pos))
+                i = (i0 + 1) % n
+                while i != i1:
+                    i2 = (i + 1) % n
+                    self.strips.append((self.pts[i].pos, self.pts[i2].pos))
+                    i = i2
+                self.strips.append((self.pts[i1].pos, p1))
+            l0 = l1 + self.STRIP_GAP
+
+
+class RoadPoint:
+    def __init__(self, pos: Vec, normal: Vec, width: float) -> None:
+        self.pos: Vec = pos
+        self.normal: Vec = normal.normalized
+        self.width: float = width
+
+    @staticmethod
+    def load(data: list[float]) -> RoadPoint:
+        return RoadPoint(Vec(data[0], data[1]), Vec(data[2], data[3]), data[4])

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 = 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: 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

@@ -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>Rollback</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 6.8.1
+#
+# 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.
+
+
+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", "Rollback"))
+        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 +1,138 @@
+from __future__ import annotations
+
+import queue
+import socket
+import struct
+import threading
+from typing import TYPE_CHECKING, Optional
+
+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
+
+
+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",
+    }
+
+    SNAPSHOT_INTERVAL = 0.1
+
+    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
+        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))
+        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.snapshot_timer.cancel()
+        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)
+            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)
+        payload: bytes = snapshot.pack()
+        self.client.sendall(struct.pack(">I", len(payload)) + payload)

src/snapshot.py

@@ -0,0 +1,101 @@
+from __future__ import annotations
+
+import struct
+from dataclasses import dataclass, field
+from typing import TYPE_CHECKING, Optional
+
+import numpy as np
+
+from src.vec import Vec
+
+if TYPE_CHECKING:
+    from src.car import Car
+
+
+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,
+        )
+
+    @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

src/track.py

@@ -0,0 +1,54 @@
+from __future__ import annotations
+
+import json
+
+import pygame
+
+from src.camera import Camera
+from src.track_object import TrackObject
+from src.utils import ROOT
+from src.vec import Vec
+
+TrackObject.init()
+
+
+class Track:
+    TRACKS_DIRECTORY = ROOT / "assets" / "tracks"
+
+    def __init__(self, id: str, name: str, start_pos: Vec, start_dir: Vec) -> None:
+        self.id: str = id
+        self.name: str = name
+        self.start_pos: Vec = start_pos
+        self.start_dir: Vec = start_dir
+        self.objects: list[TrackObject] = []
+        self.load_objects()
+
+    @staticmethod
+    def load(name: str) -> Track:
+        with open(Track.TRACKS_DIRECTORY / name / "meta.json", "r") as f:
+            meta: dict = json.load(f)
+
+        return Track(
+            name,
+            meta["name"],
+            Vec(*meta["start"]["pos"]),
+            Vec(*meta["start"]["direction"]),
+        )
+
+    def load_objects(self):
+        with open(Track.TRACKS_DIRECTORY / self.id / "track.json", "r") as f:
+            data: list = json.load(f)
+
+        self.objects = []
+        for obj_data in data:
+            self.objects.append(TrackObject.load(obj_data))
+
+    def render(self, surf: pygame.Surface, camera: Camera):
+        for object in self.objects:
+            object.render(surf, camera)
+
+    def get_collision_polygons(self) -> list[list[Vec]]:
+        polygons: list[list[Vec]] = []
+        for obj in self.objects:
+            polygons.extend(obj.get_collision_polygons())
+        return polygons

src/track_object.py

@@ -0,0 +1,46 @@
+import importlib
+import pkgutil
+from enum import StrEnum
+from typing import Optional, Self
+
+import pygame
+
+import src.objects
+from src.camera import Camera
+from src.vec import Vec
+
+
+class TrackObjectType(StrEnum):
+    Road = "road"
+
+    Unknown = "unknown"
+
+
+class TrackObject:
+    REGISTRY = {}
+    type: TrackObjectType = TrackObjectType.Unknown
+
+    @staticmethod
+    def init():
+        package = src.objects
+        for _, modname, _ in pkgutil.walk_packages(
+            package.__path__, package.__name__ + "."
+        ):
+            importlib.import_module(modname)
+
+    def __init_subclass__(cls, **kwargs) -> None:
+        super().__init_subclass__(**kwargs)
+        TrackObject.REGISTRY[cls.type] = cls
+
+    @classmethod
+    def load(cls, data: dict) -> Self:
+        obj_type: Optional[TrackObjectType] = data.get("type")
+        if obj_type not in cls.REGISTRY:
+            raise ValueError(f"Unknown object tyoe: {obj_type}")
+        return cls.REGISTRY[obj_type].load(data)
+
+    def render(self, surf: pygame.Surface, camera: Camera):
+        pass
+
+    def get_collision_polygons(self) -> list[list[Vec]]:
+        return []

src/utils.py

@@ -0,0 +1,69 @@
+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)))
+
+
+def orientation(a: Vec, b: Vec, c: Vec) -> float:
+    return (b - a).cross(c - a)
+
+
+def segments_intersect(a1: Vec, a2: Vec, b1: Vec, b2: Vec) -> bool:
+    o1 = orientation(a1, a2, b1)
+    o2 = orientation(a1, a2, b2)
+    o3 = orientation(b1, b2, a1)
+    o4 = orientation(b1, b2, a2)
+
+    # General case: segments straddle each other
+    if (o1 * o2 < 0) and (o3 * o4 < 0):
+        return True
+
+    # Special cases: Collinear overlaps
+    if o1 == 0 and b1.within(a1, a2):
+        return True
+    if o2 == 0 and b2.within(a1, a2):
+        return True
+    if o3 == 0 and a1.within(b1, b2):
+        return True
+    if o4 == 0 and a2.within(b1, b2):
+        return True
+
+    return False
+
+
+def get_segments_intersection(a1: Vec, a2: Vec, b1: Vec, b2: Vec) -> Optional[Vec]:
+    da: Vec = a2 - a1
+    db: Vec = b2 - b1
+    dp: Vec = a1 - b1
+    dap: Vec = da.perp
+    denom: float = dap.dot(db)
+
+    if abs(denom) < 1e-9:
+        o1: float = da.cross(-dp)
+        if abs(o1) < 1e-9:
+            for p in [b1, b2]:
+                if p.within(a1, a2):
+                    return p
+            for p in [a1, a2]:
+                if p.within(b1, b2):
+                    return p
+            return None
+        return None
+
+    num: float = dap.dot(dp)
+    t: float = num / denom
+    intersection: Vec = b1 + db * t
+    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

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from math import sqrt
+from math import cos, sin, sqrt
 
 
 class Vec:
@@ -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)
@@ -24,6 +27,9 @@ class Vec:
     def __truediv__(self, value: float) -> Vec:
         return Vec(self.x / value, self.y / value)
 
+    def __neg__(self) -> Vec:
+        return Vec(-self.x, -self.y)
+
     def dot(self, other: Vec) -> float:
         return self.x * other.x + self.y * other.y
 
@@ -55,3 +61,14 @@ class Vec:
 
     def __repr__(self) -> str:
         return f"Vec({self.x}, {self.y})"
+
+    def rotate(self, angle: float) -> Vec:
+        return Vec(
+            cos(angle) * self.x - sin(angle) * self.y,
+            sin(angle) * self.x + cos(angle) * self.y,
+        )
+
+    def within(self, p1: Vec, p2: Vec) -> bool:
+        x1, x2 = min(p1.x, p2.x), max(p1.x, p2.x)
+        y1, y2 = min(p1.y, p2.y), max(p1.y, p2.y)
+        return (x1 <= self.x <= x2) and (y1 <= self.y <= y2)

uv.lock

@@ -2,6 +2,58 @@ version = 1
 revision = 3
 requires-python = ">=3.13"
 
+[[package]]
+name = "numpy"
+version = "2.3.4"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/b5/f4/098d2270d52b41f1bd7db9fc288aaa0400cb48c2a3e2af6fa365d9720947/numpy-2.3.4.tar.gz", hash = "sha256:a7d018bfedb375a8d979ac758b120ba846a7fe764911a64465fd87b8729f4a6a", size = 20582187, upload-time = "2025-10-15T16:18:11.77Z" }
+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" },
+    { url = "https://files.pythonhosted.org/packages/3e/46/bdd3370dcea2f95ef14af79dbf81e6927102ddf1cc54adc0024d61252fd9/numpy-2.3.4-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:a13fc473b6db0be619e45f11f9e81260f7302f8d180c49a22b6e6120022596b3", size = 14179878, upload-time = "2025-10-15T16:16:12.595Z" },
+    { url = "https://files.pythonhosted.org/packages/ac/01/5a67cb785bda60f45415d09c2bc245433f1c68dd82eef9c9002c508b5a65/numpy-2.3.4-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:3634093d0b428e6c32c3a69b78e554f0cd20ee420dcad5a9f3b2a63762ce4197", size = 5108673, upload-time = "2025-10-15T16:16:14.877Z" },
+    { url = "https://files.pythonhosted.org/packages/c2/cd/8428e23a9fcebd33988f4cb61208fda832800ca03781f471f3727a820704/numpy-2.3.4-cp313-cp313-macosx_14_0_x86_64.whl", hash = "sha256:043885b4f7e6e232d7df4f51ffdef8c36320ee9d5f227b380ea636722c7ed12e", size = 6641438, upload-time = "2025-10-15T16:16:16.805Z" },
+    { url = "https://files.pythonhosted.org/packages/3e/d1/913fe563820f3c6b079f992458f7331278dcd7ba8427e8e745af37ddb44f/numpy-2.3.4-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:4ee6a571d1e4f0ea6d5f22d6e5fbd6ed1dc2b18542848e1e7301bd190500c9d7", size = 14281290, upload-time = "2025-10-15T16:16:18.764Z" },
+    { url = "https://files.pythonhosted.org/packages/9e/7e/7d306ff7cb143e6d975cfa7eb98a93e73495c4deabb7d1b5ecf09ea0fd69/numpy-2.3.4-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:fc8a63918b04b8571789688b2780ab2b4a33ab44bfe8ccea36d3eba51228c953", size = 16636543, upload-time = "2025-10-15T16:16:21.072Z" },
+    { url = "https://files.pythonhosted.org/packages/47/6a/8cfc486237e56ccfb0db234945552a557ca266f022d281a2f577b98e955c/numpy-2.3.4-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:40cc556d5abbc54aabe2b1ae287042d7bdb80c08edede19f0c0afb36ae586f37", size = 16056117, upload-time = "2025-10-15T16:16:23.369Z" },
+    { url = "https://files.pythonhosted.org/packages/b1/0e/42cb5e69ea901e06ce24bfcc4b5664a56f950a70efdcf221f30d9615f3f3/numpy-2.3.4-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:ecb63014bb7f4ce653f8be7f1df8cbc6093a5a2811211770f6606cc92b5a78fd", size = 18577788, upload-time = "2025-10-15T16:16:27.496Z" },
+    { url = "https://files.pythonhosted.org/packages/86/92/41c3d5157d3177559ef0a35da50f0cda7fa071f4ba2306dd36818591a5bc/numpy-2.3.4-cp313-cp313-win32.whl", hash = "sha256:e8370eb6925bb8c1c4264fec52b0384b44f675f191df91cbe0140ec9f0955646", size = 6282620, upload-time = "2025-10-15T16:16:29.811Z" },
+    { url = "https://files.pythonhosted.org/packages/09/97/fd421e8bc50766665ad35536c2bb4ef916533ba1fdd053a62d96cc7c8b95/numpy-2.3.4-cp313-cp313-win_amd64.whl", hash = "sha256:56209416e81a7893036eea03abcb91c130643eb14233b2515c90dcac963fe99d", size = 12784672, upload-time = "2025-10-15T16:16:31.589Z" },
+    { url = "https://files.pythonhosted.org/packages/ad/df/5474fb2f74970ca8eb978093969b125a84cc3d30e47f82191f981f13a8a0/numpy-2.3.4-cp313-cp313-win_arm64.whl", hash = "sha256:a700a4031bc0fd6936e78a752eefb79092cecad2599ea9c8039c548bc097f9bc", size = 10196702, upload-time = "2025-10-15T16:16:33.902Z" },
+    { url = "https://files.pythonhosted.org/packages/11/83/66ac031464ec1767ea3ed48ce40f615eb441072945e98693bec0bcd056cc/numpy-2.3.4-cp313-cp313t-macosx_10_13_x86_64.whl", hash = "sha256:86966db35c4040fdca64f0816a1c1dd8dbd027d90fca5a57e00e1ca4cd41b879", size = 21049003, upload-time = "2025-10-15T16:16:36.101Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/99/5b14e0e686e61371659a1d5bebd04596b1d72227ce36eed121bb0aeab798/numpy-2.3.4-cp313-cp313t-macosx_11_0_arm64.whl", hash = "sha256:838f045478638b26c375ee96ea89464d38428c69170360b23a1a50fa4baa3562", size = 14302980, upload-time = "2025-10-15T16:16:39.124Z" },
+    { url = "https://files.pythonhosted.org/packages/2c/44/e9486649cd087d9fc6920e3fc3ac2aba10838d10804b1e179fb7cbc4e634/numpy-2.3.4-cp313-cp313t-macosx_14_0_arm64.whl", hash = "sha256:d7315ed1dab0286adca467377c8381cd748f3dc92235f22a7dfc42745644a96a", size = 5231472, upload-time = "2025-10-15T16:16:41.168Z" },
+    { url = "https://files.pythonhosted.org/packages/3e/51/902b24fa8887e5fe2063fd61b1895a476d0bbf46811ab0c7fdf4bd127345/numpy-2.3.4-cp313-cp313t-macosx_14_0_x86_64.whl", hash = "sha256:84f01a4d18b2cc4ade1814a08e5f3c907b079c847051d720fad15ce37aa930b6", size = 6739342, upload-time = "2025-10-15T16:16:43.777Z" },
+    { url = "https://files.pythonhosted.org/packages/34/f1/4de9586d05b1962acdcdb1dc4af6646361a643f8c864cef7c852bf509740/numpy-2.3.4-cp313-cp313t-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:817e719a868f0dacde4abdfc5c1910b301877970195db9ab6a5e2c4bd5b121f7", size = 14354338, upload-time = "2025-10-15T16:16:46.081Z" },
+    { url = "https://files.pythonhosted.org/packages/1f/06/1c16103b425de7969d5a76bdf5ada0804b476fed05d5f9e17b777f1cbefd/numpy-2.3.4-cp313-cp313t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:85e071da78d92a214212cacea81c6da557cab307f2c34b5f85b628e94803f9c0", size = 16702392, upload-time = "2025-10-15T16:16:48.455Z" },
+    { url = "https://files.pythonhosted.org/packages/34/b2/65f4dc1b89b5322093572b6e55161bb42e3e0487067af73627f795cc9d47/numpy-2.3.4-cp313-cp313t-musllinux_1_2_aarch64.whl", hash = "sha256:2ec646892819370cf3558f518797f16597b4e4669894a2ba712caccc9da53f1f", size = 16134998, upload-time = "2025-10-15T16:16:51.114Z" },
+    { url = "https://files.pythonhosted.org/packages/d4/11/94ec578896cdb973aaf56425d6c7f2aff4186a5c00fac15ff2ec46998b46/numpy-2.3.4-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:035796aaaddfe2f9664b9a9372f089cfc88bd795a67bd1bfe15e6e770934cf64", size = 18651574, upload-time = "2025-10-15T16:16:53.429Z" },
+    { url = "https://files.pythonhosted.org/packages/62/b7/7efa763ab33dbccf56dade36938a77345ce8e8192d6b39e470ca25ff3cd0/numpy-2.3.4-cp313-cp313t-win32.whl", hash = "sha256:fea80f4f4cf83b54c3a051f2f727870ee51e22f0248d3114b8e755d160b38cfb", size = 6413135, upload-time = "2025-10-15T16:16:55.992Z" },
+    { url = "https://files.pythonhosted.org/packages/43/70/aba4c38e8400abcc2f345e13d972fb36c26409b3e644366db7649015f291/numpy-2.3.4-cp313-cp313t-win_amd64.whl", hash = "sha256:15eea9f306b98e0be91eb344a94c0e630689ef302e10c2ce5f7e11905c704f9c", size = 12928582, upload-time = "2025-10-15T16:16:57.943Z" },
+    { url = "https://files.pythonhosted.org/packages/67/63/871fad5f0073fc00fbbdd7232962ea1ac40eeaae2bba66c76214f7954236/numpy-2.3.4-cp313-cp313t-win_arm64.whl", hash = "sha256:b6c231c9c2fadbae4011ca5e7e83e12dc4a5072f1a1d85a0a7b3ed754d145a40", size = 10266691, upload-time = "2025-10-15T16:17:00.048Z" },
+    { url = "https://files.pythonhosted.org/packages/72/71/ae6170143c115732470ae3a2d01512870dd16e0953f8a6dc89525696069b/numpy-2.3.4-cp314-cp314-macosx_10_15_x86_64.whl", hash = "sha256:81c3e6d8c97295a7360d367f9f8553973651b76907988bb6066376bc2252f24e", size = 20955580, upload-time = "2025-10-15T16:17:02.509Z" },
+    { url = "https://files.pythonhosted.org/packages/af/39/4be9222ffd6ca8a30eda033d5f753276a9c3426c397bb137d8e19dedd200/numpy-2.3.4-cp314-cp314-macosx_11_0_arm64.whl", hash = "sha256:7c26b0b2bf58009ed1f38a641f3db4be8d960a417ca96d14e5b06df1506d41ff", size = 14188056, upload-time = "2025-10-15T16:17:04.873Z" },
+    { url = "https://files.pythonhosted.org/packages/6c/3d/d85f6700d0a4aa4f9491030e1021c2b2b7421b2b38d01acd16734a2bfdc7/numpy-2.3.4-cp314-cp314-macosx_14_0_arm64.whl", hash = "sha256:62b2198c438058a20b6704351b35a1d7db881812d8512d67a69c9de1f18ca05f", size = 5116555, upload-time = "2025-10-15T16:17:07.499Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/04/82c1467d86f47eee8a19a464c92f90a9bb68ccf14a54c5224d7031241ffb/numpy-2.3.4-cp314-cp314-macosx_14_0_x86_64.whl", hash = "sha256:9d729d60f8d53a7361707f4b68a9663c968882dd4f09e0d58c044c8bf5faee7b", size = 6643581, upload-time = "2025-10-15T16:17:09.774Z" },
+    { url = "https://files.pythonhosted.org/packages/0c/d3/c79841741b837e293f48bd7db89d0ac7a4f2503b382b78a790ef1dc778a5/numpy-2.3.4-cp314-cp314-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:bd0c630cf256b0a7fd9d0a11c9413b42fef5101219ce6ed5a09624f5a65392c7", size = 14299186, upload-time = "2025-10-15T16:17:11.937Z" },
+    { url = "https://files.pythonhosted.org/packages/e8/7e/4a14a769741fbf237eec5a12a2cbc7a4c4e061852b6533bcb9e9a796c908/numpy-2.3.4-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d5e081bc082825f8b139f9e9fe42942cb4054524598aaeb177ff476cc76d09d2", size = 16638601, upload-time = "2025-10-15T16:17:14.391Z" },
+    { url = "https://files.pythonhosted.org/packages/93/87/1c1de269f002ff0a41173fe01dcc925f4ecff59264cd8f96cf3b60d12c9b/numpy-2.3.4-cp314-cp314-musllinux_1_2_aarch64.whl", hash = "sha256:15fb27364ed84114438fff8aaf998c9e19adbeba08c0b75409f8c452a8692c52", size = 16074219, upload-time = "2025-10-15T16:17:17.058Z" },
+    { url = "https://files.pythonhosted.org/packages/cd/28/18f72ee77408e40a76d691001ae599e712ca2a47ddd2c4f695b16c65f077/numpy-2.3.4-cp314-cp314-musllinux_1_2_x86_64.whl", hash = "sha256:85d9fb2d8cd998c84d13a79a09cc0c1091648e848e4e6249b0ccd7f6b487fa26", size = 18576702, upload-time = "2025-10-15T16:17:19.379Z" },
+    { url = "https://files.pythonhosted.org/packages/c3/76/95650169b465ececa8cf4b2e8f6df255d4bf662775e797ade2025cc51ae6/numpy-2.3.4-cp314-cp314-win32.whl", hash = "sha256:e73d63fd04e3a9d6bc187f5455d81abfad05660b212c8804bf3b407e984cd2bc", size = 6337136, upload-time = "2025-10-15T16:17:22.886Z" },
+    { url = "https://files.pythonhosted.org/packages/dc/89/a231a5c43ede5d6f77ba4a91e915a87dea4aeea76560ba4d2bf185c683f0/numpy-2.3.4-cp314-cp314-win_amd64.whl", hash = "sha256:3da3491cee49cf16157e70f607c03a217ea6647b1cea4819c4f48e53d49139b9", size = 12920542, upload-time = "2025-10-15T16:17:24.783Z" },
+    { url = "https://files.pythonhosted.org/packages/0d/0c/ae9434a888f717c5ed2ff2393b3f344f0ff6f1c793519fa0c540461dc530/numpy-2.3.4-cp314-cp314-win_arm64.whl", hash = "sha256:6d9cd732068e8288dbe2717177320723ccec4fb064123f0caf9bbd90ab5be868", size = 10480213, upload-time = "2025-10-15T16:17:26.935Z" },
+    { url = "https://files.pythonhosted.org/packages/83/4b/c4a5f0841f92536f6b9592694a5b5f68c9ab37b775ff342649eadf9055d3/numpy-2.3.4-cp314-cp314t-macosx_10_15_x86_64.whl", hash = "sha256:22758999b256b595cf0b1d102b133bb61866ba5ceecf15f759623b64c020c9ec", size = 21052280, upload-time = "2025-10-15T16:17:29.638Z" },
+    { url = "https://files.pythonhosted.org/packages/3e/80/90308845fc93b984d2cc96d83e2324ce8ad1fd6efea81b324cba4b673854/numpy-2.3.4-cp314-cp314t-macosx_11_0_arm64.whl", hash = "sha256:9cb177bc55b010b19798dc5497d540dea67fd13a8d9e882b2dae71de0cf09eb3", size = 14302930, upload-time = "2025-10-15T16:17:32.384Z" },
+    { url = "https://files.pythonhosted.org/packages/3d/4e/07439f22f2a3b247cec4d63a713faae55e1141a36e77fb212881f7cda3fb/numpy-2.3.4-cp314-cp314t-macosx_14_0_arm64.whl", hash = "sha256:0f2bcc76f1e05e5ab58893407c63d90b2029908fa41f9f1cc51eecce936c3365", size = 5231504, upload-time = "2025-10-15T16:17:34.515Z" },
+    { url = "https://files.pythonhosted.org/packages/ab/de/1e11f2547e2fe3d00482b19721855348b94ada8359aef5d40dd57bfae9df/numpy-2.3.4-cp314-cp314t-macosx_14_0_x86_64.whl", hash = "sha256:8dc20bde86802df2ed8397a08d793da0ad7a5fd4ea3ac85d757bf5dd4ad7c252", size = 6739405, upload-time = "2025-10-15T16:17:36.128Z" },
+    { url = "https://files.pythonhosted.org/packages/3b/40/8cd57393a26cebe2e923005db5134a946c62fa56a1087dc7c478f3e30837/numpy-2.3.4-cp314-cp314t-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:5e199c087e2aa71c8f9ce1cb7a8e10677dc12457e7cc1be4798632da37c3e86e", size = 14354866, upload-time = "2025-10-15T16:17:38.884Z" },
+    { url = "https://files.pythonhosted.org/packages/93/39/5b3510f023f96874ee6fea2e40dfa99313a00bf3ab779f3c92978f34aace/numpy-2.3.4-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:85597b2d25ddf655495e2363fe044b0ae999b75bc4d630dc0d886484b03a5eb0", size = 16703296, upload-time = "2025-10-15T16:17:41.564Z" },
+    { url = "https://files.pythonhosted.org/packages/41/0d/19bb163617c8045209c1996c4e427bccbc4bbff1e2c711f39203c8ddbb4a/numpy-2.3.4-cp314-cp314t-musllinux_1_2_aarch64.whl", hash = "sha256:04a69abe45b49c5955923cf2c407843d1c85013b424ae8a560bba16c92fe44a0", size = 16136046, upload-time = "2025-10-15T16:17:43.901Z" },
+    { url = "https://files.pythonhosted.org/packages/e2/c1/6dba12fdf68b02a21ac411c9df19afa66bed2540f467150ca64d246b463d/numpy-2.3.4-cp314-cp314t-musllinux_1_2_x86_64.whl", hash = "sha256:e1708fac43ef8b419c975926ce1eaf793b0c13b7356cfab6ab0dc34c0a02ac0f", size = 18652691, upload-time = "2025-10-15T16:17:46.247Z" },
+    { url = "https://files.pythonhosted.org/packages/f8/73/f85056701dbbbb910c51d846c58d29fd46b30eecd2b6ba760fc8b8a1641b/numpy-2.3.4-cp314-cp314t-win32.whl", hash = "sha256:863e3b5f4d9915aaf1b8ec79ae560ad21f0b8d5e3adc31e73126491bb86dee1d", size = 6485782, upload-time = "2025-10-15T16:17:48.872Z" },
+    { url = "https://files.pythonhosted.org/packages/17/90/28fa6f9865181cb817c2471ee65678afa8a7e2a1fb16141473d5fa6bacc3/numpy-2.3.4-cp314-cp314t-win_amd64.whl", hash = "sha256:962064de37b9aef801d33bc579690f8bfe6c5e70e29b61783f60bcba838a14d6", size = 13113301, upload-time = "2025-10-15T16:17:50.938Z" },
+    { url = "https://files.pythonhosted.org/packages/54/23/08c002201a8e7e1f9afba93b97deceb813252d9cfd0d3351caed123dcf97/numpy-2.3.4-cp314-cp314t-win_arm64.whl", hash = "sha256:8b5a9a39c45d852b62693d9b3f3e0fe052541f804296ff401a72a1b60edafb29", size = 10547532, upload-time = "2025-10-15T16:17:53.48Z" },
+]
+
 [[package]]
 name = "pygame"
 version = "2.6.1"
@@ -17,13 +69,78 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/7e/11/17f7f319ca91824b86557e9303e3b7a71991ef17fd45286bf47d7f0a38e6/pygame-2.6.1-cp313-cp313-win_amd64.whl", hash = "sha256:813af4fba5d0b2cb8e58f5d95f7910295c34067dcc290d34f1be59c48bd1ea6a", size = 10620084, upload-time = "2024-09-29T11:48:51.587Z" },
 ]
 
+[[package]]
+name = "pyqt6"
+version = "6.9.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pyqt6-qt6" },
+    { name = "pyqt6-sip" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/32/1b/567f46eb43ca961efd38d7a0b73efb70d7342854f075fd919179fdb2a571/pyqt6-6.9.1.tar.gz", hash = "sha256:50642be03fb40f1c2111a09a1f5a0f79813e039c15e78267e6faaf8a96c1c3a6", size = 1067230, upload-time = "2025-06-06T08:49:30.307Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/18/c4/fc2a69cf3df09b213185ef5a677c3940cd20e7855d29e40061a685b9c6ee/pyqt6-6.9.1-cp39-abi3-macosx_10_14_universal2.whl", hash = "sha256:33c23d28f6608747ecc8bfd04c8795f61631af9db4fb1e6c2a7523ec4cc916d9", size = 59770566, upload-time = "2025-06-06T08:48:20.331Z" },
+    { url = "https://files.pythonhosted.org/packages/d5/78/92f3c46440a83ebe22ae614bd6792e7b052bcb58ff128f677f5662015184/pyqt6-6.9.1-cp39-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:37884df27f774e2e1c0c96fa41e817a222329b80ffc6241725b0dc8c110acb35", size = 37804959, upload-time = "2025-06-06T08:48:39.587Z" },
+    { url = "https://files.pythonhosted.org/packages/5a/5e/e77fa2761d809cd08d724f44af01a4b6ceb0ff9648e43173187b0e4fac4e/pyqt6-6.9.1-cp39-abi3-manylinux_2_39_aarch64.whl", hash = "sha256:055870b703c1a49ca621f8a89e2ec4d848e6c739d39367eb9687af3b056d9aa3", size = 40414608, upload-time = "2025-06-06T08:49:00.26Z" },
+    { url = "https://files.pythonhosted.org/packages/c4/09/69cf80456b6a985e06dd24ed0c2d3451e43567bf2807a5f3a86ef7a74a2e/pyqt6-6.9.1-cp39-abi3-win_amd64.whl", hash = "sha256:15b95bd273bb6288b070ed7a9503d5ff377aa4882dd6d175f07cad28cdb21da0", size = 25717996, upload-time = "2025-06-06T08:49:13.208Z" },
+    { url = "https://files.pythonhosted.org/packages/52/b3/0839d8fd18b86362a4de384740f2f6b6885b5d06fda7720f8a335425e316/pyqt6-6.9.1-cp39-abi3-win_arm64.whl", hash = "sha256:08792c72d130a02e3248a120f0b9bbb4bf4319095f92865bc5b365b00518f53d", size = 25212132, upload-time = "2025-06-06T08:49:27.41Z" },
+]
+
+[[package]]
+name = "pyqt6-qt6"
+version = "6.9.2"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/14/6f/fe2cd9cb2201c685be2f50c8c915df97848cac3dca4bad44bc3aed56fc63/pyqt6_qt6-6.9.2-py3-none-macosx_10_14_x86_64.whl", hash = "sha256:183b62be49216da80c7df1931d74885610a88f74812489d29610d13b7c215a1c", size = 66568266, upload-time = "2025-09-01T11:43:31.339Z" },
+    { url = "https://files.pythonhosted.org/packages/db/1d/47dc51b4383b350f4ff6b1db461b01eba580030683ffa65475b4fdd9b80d/pyqt6_qt6-6.9.2-py3-none-macosx_11_0_arm64.whl", hash = "sha256:7897fb74ee21bdc87b5ccf84e94f4a551377e792fd180a9211c17eb41c3338a3", size = 60859706, upload-time = "2025-09-01T11:43:36.624Z" },
+    { url = "https://files.pythonhosted.org/packages/a8/07/21f7dc188e35b46631707f3b40ace5643a0e03a8e1e446854826d08a04ae/pyqt6_qt6-6.9.2-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:9abfc0ee4a8293a6442128ae3f87f68e82e2a949d7b9caabd98c86ba5679ab48", size = 82322871, upload-time = "2025-09-01T11:43:41.685Z" },
+    { url = "https://files.pythonhosted.org/packages/0c/c0/da658e735817feaa35ddfddb4c5d699291e8b8e3138e69ad7ae1a38a7db8/pyqt6_qt6-6.9.2-py3-none-manylinux_2_39_aarch64.whl", hash = "sha256:940aac6462532578e8ddefe0494cd17e33a85e0f3cfb21c612f56ab9ad7bc871", size = 80826693, upload-time = "2025-09-01T11:43:46.823Z" },
+    { url = "https://files.pythonhosted.org/packages/63/3a/d811ed1aa579b93ab56188d1371b05eacb4188599d83e72b761263a10f92/pyqt6_qt6-6.9.2-py3-none-win_amd64.whl", hash = "sha256:f9289768039bef4a63e5949b7f8cfbbddc3b6d24bd58c21ba0f2921bed8d1c08", size = 74147171, upload-time = "2025-09-01T11:43:53.468Z" },
+    { url = "https://files.pythonhosted.org/packages/57/59/7db6c5ddcb60ef3ecca2040274a30e8bc35b569c49e25e1cf2ef9f159426/pyqt6_qt6-6.9.2-py3-none-win_arm64.whl", hash = "sha256:8f82944ef68c8f8c78aa8eca4832c7bc05116c6de00a3bad8af5a0d63d1caafb", size = 54534019, upload-time = "2025-09-01T11:43:58.763Z" },
+]
+
+[[package]]
+name = "pyqt6-sip"
+version = "13.10.2"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/2f/4a/96daf6c2e4f689faae9bd8cebb52754e76522c58a6af9b5ec86a2e8ec8b4/pyqt6_sip-13.10.2.tar.gz", hash = "sha256:464ad156bf526500ce6bd05cac7a82280af6309974d816739b4a9a627156fafe", size = 92548, upload-time = "2025-05-23T12:26:49.901Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/a1/1e/979ea64c98ca26979d8ce11e9a36579e17d22a71f51d7366d6eec3c82c13/pyqt6_sip-13.10.2-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:8b5d06a0eac36038fa8734657d99b5fe92263ae7a0cd0a67be6acfe220a063e1", size = 112227, upload-time = "2025-05-23T12:26:38.758Z" },
+    { url = "https://files.pythonhosted.org/packages/d9/21/84c230048e3bfef4a9209d16e56dcd2ae10590d03a31556ae8b5f1dcc724/pyqt6_sip-13.10.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ad376a6078da37b049fdf9d6637d71b52727e65c4496a80b753ddc8d27526aca", size = 322920, upload-time = "2025-05-23T12:26:39.856Z" },
+    { url = "https://files.pythonhosted.org/packages/b0/1e/c6a28a142f14e735088534cc92951c3f48cccd77cdd4f3b10d7996be420f/pyqt6_sip-13.10.2-cp313-cp313-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:3dde8024d055f496eba7d44061c5a1ba4eb72fc95e5a9d7a0dbc908317e0888b", size = 303833, upload-time = "2025-05-23T12:26:41.075Z" },
+    { url = "https://files.pythonhosted.org/packages/89/63/e5adf350c1c3123d4865c013f164c5265512fa79f09ad464fb2fdf9f9e61/pyqt6_sip-13.10.2-cp313-cp313-win_amd64.whl", hash = "sha256:0b097eb58b4df936c4a2a88a2f367c8bb5c20ff049a45a7917ad75d698e3b277", size = 53527, upload-time = "2025-05-23T12:26:42.625Z" },
+    { url = "https://files.pythonhosted.org/packages/58/74/2df4195306d050fbf4963fb5636108a66e5afa6dc05fd9e81e51ec96c384/pyqt6_sip-13.10.2-cp313-cp313-win_arm64.whl", hash = "sha256:cc6a1dfdf324efaac6e7b890a608385205e652845c62130de919fd73a6326244", size = 45373, upload-time = "2025-05-23T12:26:43.536Z" },
+    { url = "https://files.pythonhosted.org/packages/23/57/74b4eb7a51b9133958daa8409b55de95e44feb694d4e2e3eba81a070ca20/pyqt6_sip-13.10.2-cp314-cp314-macosx_10_15_universal2.whl", hash = "sha256:8a76a06a8e5c5b1f17a3f6f3c834ca324877e07b960b18b8b9bbfd9c536ec658", size = 112354, upload-time = "2025-10-08T08:44:00.22Z" },
+    { url = "https://files.pythonhosted.org/packages/f2/cb/fdef02e0d6ee8443a9683a43650d61c6474b634b6ae6e1c6f097da6310bf/pyqt6_sip-13.10.2-cp314-cp314-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9128d770a611200529468397d710bc972f1dcfe12bfcbb09a3ccddcd4d54fa5b", size = 323488, upload-time = "2025-10-08T08:44:01.965Z" },
+    { url = "https://files.pythonhosted.org/packages/8c/5b/8ede8d6234c3ea884cbd097d7d47ff9910fb114efe041af62b4453acd23b/pyqt6_sip-13.10.2-cp314-cp314-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:d820a0fae7315932c08f27dc0a7e33e0f50fe351001601a8eb9cf6f22b04562e", size = 303881, upload-time = "2025-10-08T08:44:04.086Z" },
+    { url = "https://files.pythonhosted.org/packages/be/44/b5e78b072d1594643b0f1ff348f2bf54d4adb5a3f9b9f0989c54e33238d6/pyqt6_sip-13.10.2-cp314-cp314-win_amd64.whl", hash = "sha256:3213bb6e102d3842a3bb7e59d5f6e55f176c80880ff0b39d0dac0cfe58313fb3", size = 55098, upload-time = "2025-10-08T08:44:08.943Z" },
+    { url = "https://files.pythonhosted.org/packages/e2/91/357e9fcef5d830c3d50503d35e0357818aca3540f78748cc214dfa015d00/pyqt6_sip-13.10.2-cp314-cp314-win_arm64.whl", hash = "sha256:ce33ff1f94960ad4b08035e39fa0c3c9a67070bec39ffe3e435c792721504726", size = 46088, upload-time = "2025-10-08T08:44:10.014Z" },
+]
+
+[[package]]
+name = "qasync"
+version = "0.28.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ec/b2/5be08597dbbf331edb69478eae2f8dd511834cebf56a183b442e7437f8e0/qasync-0.28.0.tar.gz", hash = "sha256:6f7f1f18971f59cb259b107218269ba56e3ad475ec456e54714b426a6e30b71d", size = 14010, upload-time = "2025-08-28T01:31:36.785Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/e5/84/0ce4cd946f6e958428c87d5accac35df70f81607e45ba4919947d0762d63/qasync-0.28.0-py3-none-any.whl", hash = "sha256:21faba8d047c717008378f5ac29ea58c32a8128528629e4afd57c59b768dba0f", size = 16188, upload-time = "2025-08-28T01:31:35.591Z" },
+]
+
 [[package]]
 name = "rally-racer"
 version = "0.1.0"
 source = { virtual = "." }
 dependencies = [
+    { name = "numpy" },
     { name = "pygame" },
+    { name = "pyqt6" },
+    { name = "qasync" },
 ]
 
 [package.metadata]
-requires-dist = [{ name = "pygame", specifier = ">=2.6.1" }]
+requires-dist = [
+    { name = "numpy", specifier = ">=2.3.4" },
+    { name = "pygame", specifier = ">=2.6.1" },
+    { name = "pyqt6", specifier = ">=6.9.1" },
+    { name = "qasync", specifier = ">=0.28.0" },
+]