#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use case of breath API"""

import qi
import argparse
import sys
import time


def main(session):
    """
    Use case of breath API
    """
    # Get the services ALMotion & ALRobotPosture.

    motion_service = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")

    # Wake up robot
    motion_service.wakeUp()

    # Send robot to Stand Init
    posture_service.goToPosture("StandInit", 0.5)

    # Start breathing
    motion_service.setBreathEnabled('Body', True)

    # Get default breath config
    print 'Current breath config: ' + str(motion_service.getBreathConfig())

    # Wait for 10 seconds, and let the robot play the breathing animation
    time.sleep(10)

    # Change breathing configuration to a faster one
    print 'Breath faster'
    motion_service.setBreathConfig([['Bpm', 30], ['Amplitude', 0.0]])

    # Let the robot play the new animation
    time.sleep(10)

    # Stop breathing
    motion_service.setBreathEnabled('Body', False)

    # Go to rest position
    print 'rest'
    motion_service.rest()


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    main(session)