def possibilityForwardLeft():
    fenetre.blit(fond, (0, 0))
    fenetre.blit(perso, (190, 260))
    arrow_dbl = pygame.transform.rotate(arrow, 140)
    arrow_dbl = pygame.transform.scale(arrow_dbl, (150, 300))
    arrow_dbl.set_colorkey((255, 255, 255))
    fenetre.blit(arrow_dbl, (70, 70))
    pygame.display.flip()
    global event
    X = 1.0
    Y = 0.0
    Theta = 0.5
    Frequency = 0.8
    motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency)  # do some work
    time.sleep(tseq)
    if event == "RotateLeftA":
        sonarProxy.subscribe("SonarApp")
        time.sleep(0.25)
        valL = memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")
        print("a gauche, mon sonar detecte", valL)
        valR = memoryProxy.getData(
            "Device/SubDeviceList/US/Right/Sensor/Value")
        print("a droite, mon sonar detecte", valR)
        sonarProxy.unsubscribe("SonarApp")
        if valR > P or valR <= TP:
            event = "StopRotate"
        if valL < valR:
            event = "RotateRightA"
            cm.ReadytoRD()
        for even in pygame.event.get():
            if even.type == pygame.KEYDOWN:
                event = "Stay"
    else:
        event = "Stay"  # define the default event
        for even in pygame.event.get():
            if even.type == pygame.QUIT:
                sys.exit()
            if even.type == pygame.KEYDOWN:
                if even.key == pygame.K_s:
                    event = "Stop"
                elif even.key == pygame.K_UP:
                    event = "StopRotate"
                elif even.key == pygame.K_LEFT:
                    event = "StopMove"
                elif even.key == pygame.K_DOWN:
                    event = "StopMove"
                elif even.key == pygame.K_RIGHT:
                    event = "StopRotate"
            if even.type == pygame.JOYBUTTONDOWN:
                if joy.get_button(7) == 1:
                    event = "Stop"
            elif even.type == pygame.JOYAXISMOTION:
                if joy.get_axis(1) > 0:
                    event = "StopMove"
                elif joy.get_axis(0) > 0:
                    event = "StopRotate"
    return event  # return event to be able to define the transition
def possibilityBackwardRight():
    fenetre.blit(fond, (0, 0))
    fenetre.blit(perso, (190, 260))
    arrow_dbl = pygame.transform.rotate(arrow, -40)
    arrow_dbl = pygame.transform.scale(arrow_dbl, (150, 300))
    arrow_dbl.set_colorkey((255, 255, 255))
    fenetre.blit(arrow_dbl, (250, 370))
    pygame.display.flip()
    global event
    X = -1.0
    Y = 0.0
    Theta = -0.5
    Frequency = 0.8
    motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency)  # do some work
    time.sleep(tseq)
    event = "Stay"  # define the default event
    for even in pygame.event.get():
        if even.type == pygame.QUIT:
            sys.exit()
        if even.type == pygame.KEYDOWN:
            if even.key == pygame.K_s:
                event = "Stop"
            elif even.key == pygame.K_DOWN:
                event = "StopRotate"
                cm.AlltoBK()
            elif even.key == pygame.K_RIGHT:
                event = "StopMove"
                cm.ReadytoRD()
            elif even.key == pygame.K_LEFT:
                event = "StopRotate"
                cm.AlltoBK()
            elif even.key == pygame.K_UP:
                event = "StopMove"
        if even.type == pygame.JOYBUTTONDOWN:
            if joy.get_button(7) == 1:
                event = "Stop"
        elif even.type == pygame.JOYAXISMOTION:
            if joy.get_axis(1) < 0:
                event = "StopMove"
            elif joy.get_axis(0) < 0:
                event = "StopRotate"
    return event  # return event to be able to define the transition
def possibilityForward():
    global event
    X = 1.0
    Y = 0.0
    Theta = 0.0
    Frequency = 0.8
    motionProxy.setWalkTargetVelocity(X, Y, Theta, Frequency)  # do some work
    time.sleep(tseq)
    fenetre.blit(fond, (0, 0))
    fenetre.blit(perso, (190, 260))
    arrow_up = pygame.transform.rotate(arrow, 90)
    fenetre.blit(arrow_up, (110, 0))
    pygame.display.flip()

    event = "Stay"  # define the default event

    # Modification des méthodes d'esquives automatiques;
    sonarProxy.subscribe("SonarApp")
    time.sleep(0.25)
    valL = memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")
    print("a gauche, mon sonar detecte", valL)
    valR = memoryProxy.getData("Device/SubDeviceList/US/Right/Sensor/Value")
    print("a droite, mon sonar detecte", valR)
    sonarProxy.unsubscribe("SonarApp")

    if valL <= TP and valR <= TP:
        print("Objets tres proches droit devant")
        event = "StopMoveA"
        #MOD
    elif valL <= TP:
        print("objet tres proche a ma gauche")
        event = "StopMoveAR"
    elif valR <= TP:
        print("objet tres proche a ma droite")
        event = "StopMoveAL"
    elif valL <= P:
        print("objet proche a ma gauche")
        event = "RotateRightA"
        cm.ReadytoRD()
    elif valR <= P:
        print("objet proche a ma droite")
        event = "RotateLeftA"
        cm.ReadytoRG()

    for even in pygame.event.get():
        if even.type == pygame.QUIT:
            sys.exit()
        if even.type == pygame.KEYDOWN:
            if even.key == pygame.K_s:
                event = "StopMove"
            elif even.key == pygame.K_DOWN:
                event = "StopMove"
            elif even.key == pygame.K_LEFT:
                event = "RotateLeft"
                cm.ReadytoRG()
            elif even.key == pygame.K_RIGHT:
                event = "RotateRight"
                cm.ReadytoRD()
        if even.type == pygame.JOYAXISMOTION:
            if joy.get_axis(1) > 0:
                event = "StopMove"
            elif joy.get_axis(0) < 0:
                event = "RotateLeft"
            elif joy.get_axis(0) > 0:
                event = "RotateRight"
        elif even.type == pygame.JOYBUTTONDOWN:
            if joy.get_button(7) == 1:
                event = "StopMove"
    return event  # return event to be able to define the transition
def possibilityStart():
    fenetre.blit(fond, (0, 0))
    fenetre.blit(perso, (190, 260))
    pygame.display.flip()
    global is_sleeping
    global event
    is_sleeping = False
    motionProxy.setStiffnesses("Body", 1.0)
    X = 0.0
    Y = 0.0
    Theta = 0.0
    Frequency = 0.8
    motionProxy.setWalkTargetVelocity(X, Y, Theta,
                                      Frequency)  # do some work # do some work
    postureProxy.goToPosture("StandInit", fractSpeed)
    time.sleep(tseq)
    #procédure évitement
    if event == "StopMoveA":
        event = "MoveBackwardA"
        cm.AlltoBK()
    elif event == "StopMoveAR":
        #Rajouter compteur au bsn
        event = "RotateRightA"
        cm.ReadytoRD()
    elif event == "StopMoveAL":
        event = "RotateLeftA"
        cm.ReadytoRG()
    elif event == "StopRotateA" or event == "StopMoveAF":
        event = "MoveForward"
        cm.ReadytoAvance()
    else:
        event = "Stay"
        for even in pygame.event.get():
            if even.type == pygame.QUIT:
                sys.exit()
            if even.type == pygame.KEYDOWN:
                if even.key == pygame.K_UP:
                    event = "MoveForward"
                    cm.ReadytoAvance()
                elif even.key == pygame.K_DOWN:
                    event = "MoveBackward"
                    cm.AlltoBK()
                elif even.key == pygame.K_LEFT:
                    event = "RotateLeft"
                    cm.ReadytoRG()
                elif even.key == pygame.K_RIGHT:
                    event = "RotateRight"
                    cm.ReadytoRD()
                elif even.key == pygame.K_p:
                    event = "Pause"
                    cm.ReadytoIDLE()
                elif even.key == pygame.K_k:
                    event = "Kill"
                elif even.key == pygame.K_SPACE:
                    event = "Shoot"
                    cm.ReadytoShoot()
                elif even.key == pygame.K_d:
                    event = "Dab"
            if even.type == pygame.JOYAXISMOTION:
                if joy.get_axis(1) < 0:
                    event = "MoveForward"
                elif joy.get_axis(1) > 0:
                    event = "MoveBackward"
                elif joy.get_axis(0) < 0:
                    event = "RotateLeft"
                elif joy.get_axis(0) > 0:
                    event = "RotateRight"
            if even.type == pygame.JOYBUTTONDOWN:
                if joy.get_button(2) == 1:
                    event = "Pause"
                elif joy.get_button(6) == 1:
                    event = "Kill"
                elif joy.get_button(0) == 1:
                    event = "Shoot"
                elif joy.get_button(9) == 1:
                    event = "Dab"
    return event