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

import sys
from naoqi import ALProxy


def main(robotIP):
    PORT = 9559

    try:
        motionProxy = ALProxy("ALMotion", robotIP, PORT)
    except Exception,e:
        print "Could not create proxy to ALMotion"
        print "Error was: ",e
        sys.exit(1)

    # Example that finds the difference between the command and sensed angles.
    names         = "Body"
    useSensors    = False
    commandAngles = motionProxy.getAngles(names, useSensors)
    print "Command angles:"
    print str(commandAngles)
    print ""

    useSensors  = True
    sensorAngles = motionProxy.getAngles(names, useSensors)
    print "Sensor angles:"
    print str(sensorAngles)
    print ""

    errors = []
    for i in range(0, len(commandAngles)):
        errors.append(commandAngles[i]-sensorAngles[i])
    print "Errors"
    print errors


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

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

    main(robotIp)