Separate Pull Request With playback.py working.

.gitignore

@@ -1,4 +1,3 @@
 #auto_saved_files
-#__pycache__/
+__pycache__/
 *.swp
-__*__.*

webots/controllers/controller/Makefile → attic/webots/controller/Makefile

@@ -12,11 +12,8 @@
 #  You should have received a copy of the GNU General Public License
 #  along with this program. If not, see <http:--www.gnu.org/licenses/>.
 
-# Command-line variables; e.g. make run world=maze ---------------------------
+# Command-line variable; e.g. make run world=twoexit ------------------------
 world = simple
-poselogname = poselog.csv
-setpointlogname = setpointlog.csv
-# ----------------------------------------------------------------------------
 
 EXE = $(shell basename "`pwd`")
 
@@ -42,12 +39,14 @@ USE_C_API = true
 
 VERBOSE = 1
 
-run:
-	sed 's/#physics/physics/' $(WORLDS_DIR)/$(world).wbt > $(WORLDS_DIR)/tmp.wbt
-	webots $(WORLDS_DIR)/tmp.wbt &
-	/usr/local/webots/webots-controller --stdout-redirect $(EXE) $(world) \
-		$(poselogname) $(setpointlogname)
+# https://stackoverflow.com/a/49524393
+.EXPORT_ALL_VARIABLES:
+WEBOTS_WORLD = $(world)
+WEBOTS_PATH = $(shell pwd)
 
+run:
+	webots $(WORLDS_DIR)/$(world).wbt &
+	/usr/local/webots/webots-controller --stdout-redirect $(EXE) $(world)
 
 edit:
 	vim main.cpp

webots/controllers/controller/main.cpp → attic/webots/controller/main.cpp

@@ -16,10 +16,13 @@
    along with this program. If not, see <http:--www.gnu.org/licenses/>.
  */
 
-// C/C++
+// C
 #include <unistd.h>
 #include <math.h>
+#include <stdlib.h>
 #include <string.h>
+
+// C++
 #include <map>
 #include <string>
 using namespace std;
@@ -30,7 +33,6 @@ using namespace std;
 #include <simulator/pose.h>
 #include <simulator/message.h>
 
-
 #include "platform.h"
 
 typedef struct {
@@ -234,10 +236,8 @@ static void getSimInfoFromJoystick(hf::siminfo_t & siminfo, hf::mode_e & mode)
     siminfo.setpoint.thrust = readJoystickAxis(axes.throttle);
 }
 
-int main(int argc, char ** argv) 
+int main() 
 {
-    (void)argc;
-
     hf::mode_e mode = hf::MODE_IDLE;
 
     platform_init();
@@ -251,14 +251,9 @@ int main(int argc, char ** argv)
         platform_get_vehicle_psi()
     };
 
-    FILE * setpointlogfp = fopen(argv[3], "w");
-
     while (true) {
 
         hf::siminfo_t siminfo = {};
-        strcpy(siminfo.path, getcwd(siminfo.path, sizeof(siminfo.path)));
-        strcpy(siminfo.worldname, argv[1]);
-        strcpy(siminfo.poselogname, argv[2]);
 
         if (!platform_step()) {
             break;
@@ -289,16 +284,8 @@ int main(int argc, char ** argv)
         memcpy(&siminfo.startingPose, &startingPose, sizeof(hf::pose_t));
         siminfo.framerate = platform_get_framerate();
         platform_send_siminfo(&siminfo, sizeof(siminfo));
-
-        // Save mode and setpoint to logfile
-        const auto sp = siminfo.setpoint;
-        fprintf(setpointlogfp, "%d,%f,%f,%f,%f\n",
-                siminfo.mode, sp.thrust, sp.roll, sp.pitch, sp.yaw);
-
     }
 
-    fclose(setpointlogfp);
-
     platform_cleanup();
 
     return 0;