Webots暂停模拟

Question

我正在使用Webots构建一个小的迷宫求解器项目。我正在用C编程语言编写控制器。

有人可以让我知道发生特定事件时是否可以暂停模拟吗？

类似：

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

这是我编写的代码的一部分（我想在其中引入暂停）。 while(wb_robot_step(TIME_STEP) != -1)处于无限while循环中。

int main(int argc, char **argv) {
  // initialize the Webots API


  wb_robot_init();

  // internal variables

  WbDeviceTag ps[8];
  char ps_names[8][4] = {
    "ps0", "ps1", "ps2", "ps3",
    "ps4", "ps5", "ps6", "ps7"
  };

  // initialize devices
  for (i = 0; i < 8 ; i++) {
    ps[i] = wb_robot_get_device(ps_names[i]);
    wb_distance_sensor_enable(ps[i], TIME_STEP);
  }

  left_motor = wb_robot_get_device("left wheel motor");
  right_motor = wb_robot_get_device("right wheel motor");

  wb_motor_set_position(left_motor, INFINITY);
  wb_motor_set_position(right_motor, INFINITY);
  wb_motor_set_velocity(left_motor, 0.0);
  wb_motor_set_velocity(right_motor, 0.0);

  // 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) {
      Sleep(10000);
      turnLeft(1);
    }
    else if(rightWall()==0){
      Uturn();
    }   
 } 
  // cleanup the Webots API
  wb_robot_cleanup();
  return 0; //EXIT_SUCCESS
}

Answer 1

此小示例将使用GCC：]编译并运行

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

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

    return 0;
}