# -*- encoding: UTF-8 -*- 

'''Cartesian control: Multiple Effector Trajectories'''

import sys
import motion
import almath
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


def main(robotIP):
    ''' Simultaneously control three effectors:
    the Torso, the Left Arm and the Right Arm
    Warning: Needs a PoseInit before executing
    '''

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

    # Send Robot to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    space      = motion.FRAME_ROBOT
    coef       = 0.5                   # motion speed
    times      = [coef, 2.0*coef, 3.0*coef, 4.0*coef]
    isAbsolute = False

    # Relative movement between current and desired positions
    dy         = +0.06                 # translation axis Y (meters)
    dz         = -0.03                 # translation axis Z (meters)
    dwx        = +0.30                 # rotation axis X (radians)

    # Motion of Torso with post process
    effector   = "Torso"
    path       = [
      [0.0, -dy,  dz, -dwx, 0.0, 0.0], # point 1
      [0.0, 0.0, 0.0,  0.0, 0.0, 0.0], # point 2
      [0.0, +dy,  dz, +dwx, 0.0, 0.0], # point 3
      [0.0, 0.0, 0.0,  0.0, 0.0, 0.0]] # point 4
    axisMask   = almath.AXIS_MASK_ALL  # control all the effector axes
    motionProxy.post.positionInterpolation(effector, space, path,
                                           axisMask, times, isAbsolute)

    # Motion of Arms with block process
    axisMask   = almath.AXIS_MASK_VEL  # control just the position
    times      = [1.0*coef, 2.0*coef]  # seconds

    dy         = +0.03                 # translation axis Y (meters)
    # Motion of Right Arm during the first half of the Torso motion
    effector   = "RArm"
    path       = [
      [0.0, -dy, 0.0, 0.0, 0.0, 0.0],  # point 1
      [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]  # point 2
    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)

    # Motion of Left Arm during the last half of the Torso motion
    effector   = "LArm"
    path       = [
      [0.0,  dy, 0.0, 0.0, 0.0, 0.0],  # point 1
      [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]  # point 2
    motionProxy.positionInterpolation(effector, space, path,
                                      axisMask, times, isAbsolute)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_cartesianTorsoArm1.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)