"""
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
"""
from AriaPy import *
import sys

# Global library initialization, just like the C++ API:
Aria_init()

parser = ArArgumentParser(sys.argv)
parser.loadDefaultArguments()

# Create a robot object:
robot = ArRobot()


# Create a "simple connector" object and connect to either the simulator
# or the robot. Unlike the C++ API which takes int and char* pointers, 
# the Python constructor just takes argv as a list.
print "Connecting..."

con = ArRobotConnector(parser, robot)
if not Aria_parseArgs():
    Aria_logOptions()
    Aria_exit(1)

if not con.connectRobot():
    print "Could not connect to robot, exiting"
    Aria_exit(1)


# Run the robot threads in the background:
print "Running..."
robot.runAsync(1)

# Drive the robot a bit, then exit.
robot.lock()
print "Robot position using ArRobot accessor methods: (", robot.getX(), ",", robot.getY(), ",", robot.getTh(), ")"
pose = robot.getPose()
print "Robot position by printing ArPose object: ", pose
print "Robot position using special python-only ArPose members: (", pose.x, ",", pose.y, ",", pose.th, ")"
print "Sending command to move forward 1 meter..."
robot.enableMotors()
robot.move(1000)
robot.unlock()

print "Sleeping for 5 seconds..."
ArUtil_sleep(5000)

robot.lock()
print "Sending command to rotate 90 degrees..."
robot.setHeading(90)
robot.unlock()

print "Sleeping for 5 seconds..."
ArUtil_sleep(5000)

robot.lock()
print "Robot position (", robot.getX(), ",", robot.getY(), ",", robot.getTh(), ")"
pose = robot.getPose()
print "Robot position by printing ArPose object: ", pose
print "Robot position using special python-only ArPose members: (", pose.x, ",", pose.y, ",", pose.th, ")"
robot.unlock()

print "Exiting."
Aria_shutdown()