HITL - Rearrange State Machine

[0mdc]

Motivation and Context

This changeset turns rearrange_v2 into a state machine with the following states:

1. Reset (initial state)
   • Kicks all users. Intended to reset states between sessions.
   • When all users are disconnected, changes state to lobby.
2. Lobby
   • Blank screen. New incoming connections are only allowed in this state.
   • When max_client_count users are connected, changes state to rearrange_v2.
3. Rearrange
   • rearrange_v2 application.
   • When both users signaled that the episode is done, changes state to reset.

https://github.com/facebookresearch/habitat-lab/assets/110583667/b76e4b5d-5c09-4268-969f-c8e1747ceb0a

Notes

• The entry point is now main.py instead of rearrange_v2.py.
• rearrange_v2.py will be renamed later to simplify merging of concurrent changes.

Depends on:

• https://github.com/facebookresearch/habitat-lab/pull/1958
• https://github.com/facebookresearch/habitat-lab/pull/1959

Limitations

• In this version, there is no session management. The same episode keeps running indefinitely - there is no reset.
• When users are kicked, no message is shown.
• Because ClientHelper depends on connection events, its lifetime is now coupled with RemoteClientState. This will be refactored in a later pass.
• rearrange_v2 smoke test is disabled until it is stabilized.

How Has This Been Tested

Tested on multiplayer HITL application.

Types of changes

• [Development]

Checklist

• [x] My code follows the code style of this project.
• [x] I have updated the documentation if required.
• [x] I have read the CONTRIBUTING document.
• [x] I have completed my CLA (see CONTRIBUTING)
• [x] I have added tests to cover my changes if required.