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

from naoqi import ALProxy
import almath
import argparse
import math


def main(robotIP, PORT = 9559):

    navigationProxy = ALProxy("ALNavigation", robotIP, PORT)
    motionProxy     = ALProxy("ALMotion", robotIP, PORT)
    postureProxy    = ALProxy("ALRobotPosture", robotIP, PORT)

    # Wake up robot
    motionProxy.wakeUp()

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

    # Scanning the environement.
    navigationProxy.startFreeZoneUpdate()
    ###########################################################################
    # Add here an animation with timelines and moves (less than 60 seconds).  #
    # For example :
    motionProxy.moveTo(0.0, 0.0, 2.0 * math.pi)
    ###########################################################################
    desiredRadius = 0.6
    displacementConstraint = 0.5
    result = navigationProxy.findFreeZone(desiredRadius, displacementConstraint)

    errorCode = result[0]
    if errorCode != 1:
        worldToCenterFreeZone = almath.Pose2D(result[2][0], result[2][1], 0.0)
        worldToRobot = almath.Pose2D(motionProxy.getRobotPosition(True))
        robotToFreeZoneCenter = almath.pinv(worldToRobot) * worldToCenterFreeZone
        motionProxy.moveTo(robotToFreeZoneCenter.x, robotToFreeZoneCenter.y, 0.0)
    else :
        print "Problem during the update of the free zone."


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot ip address")
    parser.add_argument("--port", type=int, default=9559,
                        help="Robot port number")

    args = parser.parse_args()
    main(args.ip, args.port)