Webots pause simulation

Question

I am building a little maze solver project using Webots. I am writing my controller in C programming language. I am using Windows OS.

Can someone let me know if there is a way to pause the simulation when a certain event happens?

Something like :

if(event){
    pause(10 seconds);
    continue();
}

This is part of the code I wrote (where I want to introduce the pause). while(wb_robot_step(TIME_STEP) != -1) is in a infinite while loop.

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. It did not work at first because I was not importing the <windows.h> library.

Answer 1

I am using Windows. I tried using Sleep(1000), but I got a warning...

This small example will compile and run using GCC :

#include <windows.h> //Sleep()
#include <stdio.h> //printf()

int main(void) 
{
    Sleep(10000); // 10 seconds
    printf("process continuing...\n");

    return 0;
}