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

"""Example: Task management - the second motion is postponed"""

import qi
import argparse
import sys
import math
import time


def main(session):
    """
    Task management: the second motion is postponed
    """
    # Get the service ALMotion.

    motion_service = session.service("ALMotion")

    # Wake up robot
    motion_service.wakeUp()

    # go to an init head pose.
    names  = ["HeadYaw", "HeadPitch"]
    angles = [0.0, 0.0]
    times  = [1.0, 1.0]
    isAbsolute = True
    motion_service.angleInterpolation(names, angles, times, isAbsolute)

    # move slowly the head to look in the left direction. The motion will
    # take 4 seconds
    names  = "HeadYaw"
    angles = math.pi/2.0
    times  = 4.0
    isAbsolute = True
    motion_service.angleInterpolation(names, angles, times, isAbsolute, _async=True)

    time.sleep(1.0)

    # one second after having started motion1, check the resources use.
    # As expected the "HeadYaw" resource is busy
    isAvailable = motion_service.areResourcesAvailable([names])
    print("areResourcesAvailable({0}): {1}".format([names], isAvailable))

    time.sleep(1.0)

    # try to look in the right direction. As the "HeadYaw" joint is busy,
    # this motion is postponed until the resource is freed
    angles = -math.pi/2.0
    times  = 2.0
    isAbsolute = True
    motion_service.angleInterpolation(names, angles, times, isAbsolute, _async=True)

    time.sleep(3.0)
    # Go to rest position
    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)