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

'''Move To: Small example to make Nao Move To an Objective'''

import math
import almath as m # python's wrapping of almath
import sys
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):
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e


    # Set NAO in stiffness On
    StiffnessOn(motionProxy)

    #####################
    ## Enable arms control by move algorithm
    #####################
    motionProxy.setWalkArmsEnabled(True, True)
    #~ motionProxy.setWalkArmsEnabled(False, False)

    #####################
    ## FOOT CONTACT PROTECTION
    #####################
    #~ motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION",False]])
    motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION", True]])

    #####################
    ## get robot position before move
    #####################
    initRobotPosition = m.Pose2D(motionProxy.getRobotPosition(False))

    X = 0.3
    Y = 0.1
    Theta = math.pi/2.0
    motionProxy.post.moveTo(X, Y, Theta)
    # wait is useful because with post moveTo is not blocking function
    motionProxy.waitUntilMoveIsFinished()

    #####################
    ## get robot position after move
    #####################
    endRobotPosition = m.Pose2D(motionProxy.getRobotPosition(False))

    #####################
    ## compute and print the robot motion
    #####################
    robotMove = m.pose2DInverse(initRobotPosition)*endRobotPosition
    print "Robot Move :", robotMove


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

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

    main(robotIp)