Enhance render method with detailed documentation and frame rate control #94
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… and frame rate control
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Actionable comments posted: 1
🧹 Outside diff range and nitpick comments (3)
robot_sf/render/sim_view.py (3)
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77-78: Consider using Enum for display_robot_infoThe
display_robot_infofield uses integer values (0,1,2) as states. Consider using an Enum for better type safety and code readability.+from enum import Enum + +class RobotInfoDisplay(Enum): + NONE = 0 + ROBOT = 1 + PEDESTRIAN = 2 + @dataclass class SimulationView: # ... other fields ... - display_robot_info: int = field(default=0) + display_robot_info: RobotInfoDisplay = field(default=RobotInfoDisplay.NONE)
130-149: Enhance docstring with types, return value, and examplesThe docstring is comprehensive but could be improved with additional details.
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. + state (VisualizableSimState): The current state of the simulation to be visualized. + Contains robot pose, pedestrian positions, and other simulation data. + sleep_time (float, optional): Time to sleep between frames in seconds to control + the frame rate. Lower values result in faster rendering. Defaults to 0.01. + + Returns: + None 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. + + Examples: + >>> view = SimulationView() + >>> state = VisualizableSimState(...) + >>> # Render at 100 FPS + >>> view.render(state, sleep_time=0.01) + >>> # Render at 30 FPS + >>> view.render(state, sleep_time=0.033) """
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130-214: Consider decomposing render method for better maintainabilityThe
rendermethod handles multiple responsibilities, making it harder to maintain and test. Consider extracting some functionality into separate methods.def render(self, state: VisualizableSimState, sleep_time: float = 0.01): - # ... current implementation ... + self._handle_events() + + if self.is_exit_requested: + self._handle_exit() + return + + self._update_camera(state) + self._clear_screen() + self._draw_static_objects() + self._draw_dynamic_objects(state) + self._draw_information(state) + + self._update_display(sleep_time) + + def _handle_events(self): + """Handle all pygame events.""" + for event in pygame.event.get(): + if event.type == pygame.QUIT: + self._handle_quit() + elif event.type == pygame.VIDEORESIZE: + self._handle_video_resize(event) + elif event.type == pygame.KEYDOWN: + self._handle_keydown(event) + + def _draw_dynamic_objects(self, state: VisualizableSimState): + """Draw all dynamic objects from the simulation state.""" + if hasattr(state, "ray_vecs"): + self._augment_lidar(state.ray_vecs) + # ... rest of the dynamic object drawing ...This refactoring would:
- Improve code readability
- Make the code more testable
- Make it easier to modify individual rendering components
robot_sf/render/sim_view.py
Outdated
| # Limit the frame rate | ||
| sleep(sleep_time) |
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🛠️ Refactor suggestion
Improve frame rate control precision
The current implementation using sleep() might lead to inconsistent frame rates as it doesn't account for the time spent rendering. Consider using pygame's built-in clock for more precise timing.
@dataclass
class SimulationView:
# ... other fields ...
+ clock: pygame.time.Clock = field(init=False)
def __post_init__(self):
"""Initialize PyGame components."""
pygame.init()
pygame.font.init()
+ self.clock = pygame.time.Clock()
# ... rest of the method ...
def render(self, state: VisualizableSimState, sleep_time: float = 0.01):
# ... rest of the method ...
if self.record_video:
# ... video recording code ...
else:
# Normal display update
pygame.display.update()
- # Limit the frame rate
- sleep(sleep_time)
+ # Limit the frame rate more precisely
+ self.clock.tick(1/sleep_time)📝 Committable suggestion
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| # Limit the frame rate | |
| sleep(sleep_time) | |
| if self.record_video: | |
| # ... video recording code ... | |
| else: | |
| # Normal display update | |
| pygame.display.update() | |
| # Limit the frame rate more precisely | |
| self.clock.tick(1/sleep_time) |
Improve the render method in SimulationView by adding a comprehensive docstring and implementing frame rate control through a sleep parameter. This enhances clarity and usability for future development.
Fixes #92
Summary by CodeRabbit
New Features
sleep_timeparameter for dynamic frame rate adjustment.Bug Fixes
showmethod to streamline the simulation view initiation.Documentation
rendermethod to clarify functionality and event handling.