[英]Webots pause simulation
I am building a little maze solver project using Webots.我正在使用 Webots 构建一个小迷宫求解器项目。 I am writing my controller in C programming language.
我正在用 C 编程语言编写我的控制器。 I am using Windows OS.
我正在使用 Windows 操作系统。
Can someone let me know if there is a way to pause the simulation when a certain event happens?有人可以告诉我是否有办法在某个事件发生时暂停模拟吗?
Something like :就像是 :
if(event){
pause(10 seconds);
continue();
}
This is part of the code I wrote (where I want to introduce the pause).这是我写的代码的一部分(我想在这里介绍一下暂停)。
while(wb_robot_step(TIME_STEP) != -1)
is in a infinite while loop. while(wb_robot_step(TIME_STEP) != -1)
处于无限循环中。
int main(int argc, char **argv) {
//… initialization code for Webots API, not important
// feedback loop: step simulation until an exit event is received
while (wb_robot_step(TIME_STEP) != -1) {
// read sensors outputs
for (i = 0; i < 8 ; i++){
ps_values[i] = wb_distance_sensor_get_value(ps[i]);
}
//program
goForward();
if (forwardWall()==1) {
//pause needed here
turnLeft(1);
}
else if(rightWall()==0){
Uturn();
}
}
// cleanup the Webots API
wb_robot_cleanup();
return 0; //EXIT_SUCCESS
}
EDIT : The solution was using the Sleep()
function.编辑:解决方案是使用
Sleep()
函数。 It did not work at first because I was not importing the <windows.h>
library.起初它不起作用,因为我没有导入
<windows.h>
库。
I am using Windows.我正在使用 Windows。 I tried using Sleep(1000), but I got a warning...
我尝试使用 Sleep(1000),但收到警告...
This small example will compile and run using GCC :这个小例子将使用GCC编译和运行:
#include <windows.h> //Sleep()
#include <stdio.h> //printf()
int main(void)
{
Sleep(10000); // 10 seconds
printf("process continuing...\n");
return 0;
}
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