import qi
import argparse
import sys
import time
from PIL import Image


def main(session):
    """
    First get an image, then show it on the screen with PIL.
    """
    # Get the service ALVideoDevice.
    motion_service = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")
    tts_service = session.service("ALTextToSpeech")

    # Wake up robot
    motion_service.wakeUp()

    # Send robot to Stand Init
    posture_service.goToPosture("Crouch", 0.5)
    sleep(2)
    posture_service.goToPosture("Stand", 0.5)
    posture_service.goToPosture("Crouch", 0.5)
    posture_service.goToPosture("Stand", 0.5)
    posture_service.goToPosture("Crouch", 0.5)
    posture_service.goToPosture("Stand", 0.5)


    # Go to rest position
    motion_service.rest()

    video_service = session.service("ALVideoDevice")
    resolution = 2    # VGA
    colorSpace = 11   # RGB

    videoClient = video_service.subscribe("python_client", resolution, colorSpace, 5)

    t0 = time.time()

    # Get a camera image.
    # image[6] contains the image data passed as an array of ASCII chars.
    naoImage = video_service.getImageRemote(videoClient)

    t1 = time.time()

    # Time the image transfer.
    print "acquisition delay ", t1 - t0

    video_service.unsubscribe(videoClient)
    tts_service.say("hola")


    # Now we work with the image returned and save it as a PNG  using ImageDraw
    # package.

    # Get the image size and pixel array.
    imageWidth = naoImage[0]
    imageHeight = naoImage[1]
    array = naoImage[6]
    image_string = str(bytearray(array))

    # Create a PIL Image from our pixel array.
    im = Image.fromstring("RGB", (imageWidth, imageHeight), image_string)

    # Save the image.
    im.save("camImage.png", "PNG")

    im.show()


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)