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

''' Whole Body Motion: Head orientation control '''

import sys
import time
import math
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):
    ''' Example of a whole body head orientation control
        Warning: Needs a PoseInit before executing
                 Whole body balancer must be inactivated at the end of the script
    '''
    # 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 NAO to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    effectorName = "Head"

    # Active Head tracking
    isEnabled    = True
    motionProxy.wbEnableEffectorControl(effectorName, isEnabled)

    # Example showing how to set orientation target for Head tracking
    # The 3 coordinates are absolute head orientation in NAO_SPACE
    # Rotation in RAD in x, y and z axis

    # X Axis Head Orientation feasible movement = [-20.0, +20.0] degree
    # Y Axis Head Orientation feasible movement = [-75.0, +70.0] degree
    # Z Axis Head Orientation feasible movement = [-30.0, +30.0] degree

    targetCoordinateList = [
    [+20.0,  00.0,  00.0], # target 0
    [-20.0,  00.0,  00.0], # target 1
    [ 00.0, +70.0,  00.0], # target 2
    [ 00.0, +70.0, +30.0], # target 3
    [ 00.0, +70.0, -30.0], # target 4
    [ 00.0, -75.0,  00.0], # target 5
    [ 00.0, -75.0, +30.0], # target 6
    [ 00.0, -75.0, -30.0], # target 7
    [ 00.0,  00.0,  00.0], # target 8
    ]

    # wbSetEffectorControl is a non blocking function
    # time.sleep allow head go to his target
    # The recommended minimum period between two successives set commands is
    # 0.2 s.
    for targetCoordinate in targetCoordinateList:
        targetCoordinate = [target*math.pi/180.0 for target in targetCoordinate]
        motionProxy.wbSetEffectorControl(effectorName, targetCoordinate)
        time.sleep(3.0)

    # Deactivate Head tracking
    isEnabled    = False
    motionProxy.wbEnableEffectorControl(effectorName, isEnabled)


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

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

    main(robotIp)