From f68717c7bed448babd3c9df9824d86349c83988f Mon Sep 17 00:00:00 2001
From: ll7 <32880741+ll7@users.noreply.github.com>
Date: Fri, 6 Dec 2024 15:53:49 +0100
Subject: [PATCH 1/2] feat: enhance render method in SimulationView with
 detailed docstring and frame rate control

---
 robot_sf/render/sim_view.py | 31 ++++++++++++++++++++++---------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/robot_sf/render/sim_view.py b/robot_sf/render/sim_view.py
index 606d974..f8245c5 100644
--- a/robot_sf/render/sim_view.py
+++ b/robot_sf/render/sim_view.py
@@ -127,13 +127,26 @@ def __post_init__(self):
             pygame.display.set_caption(self.caption)
         self.font = pygame.font.Font(None, 36)
 
-    def show(self):
-        """Start the simulation view."""
-        logger.error("This method is no longer implemented. What did we break?")
-        pass  # Remove threading since we'll handle events in render()
-
-    def render(self, state: VisualizableSimState):
-        """Render one frame and handle events."""
+    def render(self, state: VisualizableSimState, sleep_time: float = 0.01):
+        """
+        Render one frame and handle events.
+
+        Args:
+            state (VisualizableSimState): The current state of the simulation to be visualized.
+            sleep_time (float, optional): Time to sleep between frames to control the frame rate.
+                Defaults to 0.01.
+
+        Handles:
+            - Pygame events such as QUIT, VIDEORESIZE, and KEYDOWN.
+            - Camera movement based on the simulation state.
+            - Drawing of static objects, grid, dynamic objects, and additional information.
+            - Video recording if enabled.
+
+        Notes:
+            - If an exit is requested, the function will quit pygame and exit the program if an
+                abortion is requested.
+            - The function limits the frame rate by sleeping for the specified sleep_time.
+        """
         # Handle events on main thread
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
@@ -149,8 +162,6 @@ def render(self, state: VisualizableSimState):
                 exit()
             return
 
-        sleep(0.01)  # limit UI update rate to 100 fps
-
         # Adjust the view based on the focus
         self._move_camera(state)
 
@@ -199,6 +210,8 @@ def render(self, state: VisualizableSimState):
         else:
             # Normal display update
             pygame.display.update()
+            # Limit the frame rate
+            sleep(sleep_time)
 
     @property
     def _timestep_text_pos(self) -> Vec2D:

From d7b20069429563a28dd70d009346f3ce290e9474 Mon Sep 17 00:00:00 2001
From: ll7 <32880741+ll7@users.noreply.github.com>
Date: Fri, 6 Dec 2024 16:02:37 +0100
Subject: [PATCH 2/2] feat: add frame rate control to SimulationView using
 pygame clock

---
 robot_sf/render/sim_view.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/robot_sf/render/sim_view.py b/robot_sf/render/sim_view.py
index f8245c5..3860092 100644
--- a/robot_sf/render/sim_view.py
+++ b/robot_sf/render/sim_view.py
@@ -98,6 +98,7 @@ class SimulationView:
     video_path: str = None
     video_fps: float = 10.0
     frames: List[np.ndarray] = field(default_factory=list)
+    clock: pygame.time.Clock = field(init=False)
 
     # Add UI state fields
     screen: pygame.surface.Surface = field(init=False)
@@ -115,6 +116,7 @@ def __post_init__(self):
         logger.info("Initializing the simulation view.")
         pygame.init()
         pygame.font.init()
+        self.clock = pygame.time.Clock()
         if self.record_video:
             # Create offscreen surface for recording
             self.screen = pygame.Surface((int(self.width), int(self.height)))
@@ -211,7 +213,7 @@ def render(self, state: VisualizableSimState, sleep_time: float = 0.01):
             # Normal display update
             pygame.display.update()
             # Limit the frame rate
-            sleep(sleep_time)
+            self.clock.tick(1/sleep_time)
 
     @property
     def _timestep_text_pos(self) -> Vec2D: