feat: initial implementation of image capture

README.md

@@ -0,0 +1,59 @@
+<p align="center">
+    <img src="logo.png" width="300">
+</p>
+
+# Rally Racer
+
+This repository holds a sandbox driving simulation controllable via a network interface as a machine learning and data collection challenge.
+
+# Installation
+From the root of the repository, run
+```sh
+uv sync
+```
+
+To run the game, you can use
+```sh
+uv run main.py
+```
+
+# Generality
+Launching [`main.py`](main.py) starts a race with a single car on the provided track. 
+This track can be controlled either by keyboard (*WASD*) or by a socket interface. 
+An example of such interface is included in the code in [*`scripts/recorder.py`*](scripts/recorder.py). To run it, simply use the following command:
+```sh
+uv run -m scripts.recorder
+```
+
+# Sensing
+The car sensing is available in two commodities: **raycasts** and **images**. These sensing snapshots are sent at 10 Hertz (i.e. 10 times a second). Due to this fact, correct reception of snapshot messages has to be done regularly.
+
+# Communication protocol
+
+A remote controller can be impemented using TCP socket connecting on localhost on port 5000.
+Different commands can be issued to the race simulation to control the car.
+
+These commands are declared in [`src/command.py`](src/command.py)
+
+##  Car controls
+```python
+ControlCommand(control: CarControl, active: bool)
+```
+To simulate key press and control the car.
+
+
+# Controls
+
+- <kbd>W</kbd> Move forward
+- <kbd>S</kbd> Brake / move backward
+- <kbd>A</kbd> Turn left
+- <kbd>D</kbd> Turn right
+- <kbd>F</kbd> Toggle FPS indicator
+- <kbd>V</kbd> Toggle speedometer
+- <kbd>R</kbd> Reset car
+- <kbd>C</kbd> Toggle raycasts visibility
+- <kbd>Esc</kbd> Quit
+
+
+# Credits
+This project is based on the repository [https://github.com/ISC-HEI/RallyRobotPilot_2025](https://github.com/ISC-HEI/RallyRobotPilot_2025), which is in turn based on [https://github.com/mandaw2014/Rally](https://github.com/mandaw2014/Rally)

car.svg

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logo.svg

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src/car.py

@@ -1,5 +1,7 @@
+from __future__ import annotations
+
 from math import radians
-from typing import Optional
+from typing import TYPE_CHECKING, Optional
 
 import pygame
 
@@ -8,6 +10,9 @@ from src.remote_controller import RemoteController
 from src.utils import get_segments_intersection, segments_intersect
 from src.vec import Vec
 
+if TYPE_CHECKING:
+    from src.game import Game
+
 
 def sign(x): return 0 if x == 0 else (-1 if x < 0 else 1)
 
@@ -27,7 +32,8 @@ class Car:
     RAYS_FOV = 180
     RAYS_MAX_DIST = 100
 
-    def __init__(self, pos: Vec, direction: Vec) -> None:
+    def __init__(self, game: Game, pos: Vec, direction: Vec) -> None:
+        self.game: Game = game
         self.initial_pos: Vec = pos.copy()
         self.initial_dir: Vec = direction.copy()
         self.pos: Vec = pos
@@ -42,7 +48,7 @@ class Car:
         self.rays: list[float] = [0] * self.N_RAYS
         self.rays_end: list[Vec] = [Vec() for _ in range(self.N_RAYS)]
 
-        self.controller: RemoteController = RemoteController(self)
+        self.controller: RemoteController = RemoteController(self.game, self)
         self.controller.start_server()
 
     def update(self, dt: float):

src/game.py

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

src/record_file.py

@@ -1,3 +1,4 @@
+import lzma
 from pathlib import Path
 import struct
 import time
@@ -12,7 +13,7 @@ class RecordFile:
     def __init__(self, path: str | Path, mode: Literal["w", "r"]) -> None:
         self.path: str | Path = path
         self.mode: Literal["w", "r"] = mode
-        self.file = open(self.path, self.mode + "b")
+        self.file: lzma.LZMAFile = lzma.LZMAFile(self.path, self.mode)
 
     def __enter__(self):
         return self
@@ -21,8 +22,7 @@ class RecordFile:
         self.file.close()
 
     def write_header(self, n_snapshots: int):
-        data: bytes = struct.pack(
-            ">IId", self.VERSION, n_snapshots, time.time())
+        data: bytes = struct.pack(">IId", self.VERSION, n_snapshots, time.time())
         self.file.write(data)
 
     def write_snapshots(self, snapshots: list[Snapshot]):
@@ -35,7 +35,8 @@ class RecordFile:
         version: int = struct.unpack(">I", self.file.read(4))[0]
         if version != self.VERSION:
             raise ValueError(
-                f"Cannot parse record file with format version {version} (current version: {self.VERSION})")
+                f"Cannot parse record file with format version {version} (current version: {self.VERSION})"
+            )
 
         n_snapshots: int
         timestamp: float

src/recorder.py

@@ -17,7 +17,7 @@ from src.snapshot import Snapshot
 
 
 class RecorderClient(QObject):
-    DATA_CHUNK_SIZE = 4096
+    DATA_CHUNK_SIZE = 65536
     data_received: pyqtSignal = pyqtSignal(Snapshot)
 
     def __init__(self, host: str, port: int) -> None:
@@ -243,7 +243,7 @@ class RecorderWindow(Ui_Recorder, QMainWindow):
 
         self.SAVE_DIR.mkdir(exist_ok=True)
 
-        record_name: str = "record_%d.rec"
+        record_name: str = "record_%d.rec.xz"
         fid = 0
         while os.path.exists(self.SAVE_DIR / (record_name % fid)):
             fid += 1

src/remote_controller.py

@@ -12,11 +12,12 @@ from src.utils import RepeatTimer
 
 if TYPE_CHECKING:
     from src.car import Car
+    from src.game import Game
 
 
 class RemoteController:
     DEFAULT_PORT = 5000
-    DATA_CHUNK_SIZE = 4096
+    DATA_CHUNK_SIZE = 65536
 
     CONTROL_ATTRIBUTES: dict[CarControl, str] = {
         CarControl.FORWARD: "forward",
@@ -27,7 +28,8 @@ class RemoteController:
 
     SNAPSHOT_INTERVAL = 0.1
 
-    def __init__(self, car: Car, port: int = DEFAULT_PORT) -> None:
+    def __init__(self, game: Game, car: Car, port: int = DEFAULT_PORT) -> None:
+        self.game: Game = game
         self.car: Car = car
         self.port: int = port
         self.server: socket.socket = socket.socket(
@@ -134,5 +136,6 @@ class RemoteController:
             return
 
         snapshot: Snapshot = Snapshot.from_car(self.car)
+        snapshot.add_image(self.game)
         payload: bytes = snapshot.pack()
         self.client.sendall(struct.pack(">I", len(payload)) + payload)

src/snapshot.py

@@ -5,11 +5,13 @@ from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Optional
 
 import numpy as np
+import pygame
 
 from src.vec import Vec
 
 if TYPE_CHECKING:
     from src.car import Car
+    from src.game import Game
 
 
 def iter_unpack(format, data):
@@ -99,3 +101,6 @@ class Snapshot:
         car.pos = self.position.copy()
         car.direction = self.direction.copy()
         car.speed = 0
+
+    def add_image(self, game: Game):
+        self.image = pygame.surfarray.array3d(game.game_surf)