import numpy as np
import math

class Robot( object ):
    """Move o robo distance centimetros"""
    def move(self, distance):
        raise NotImplementedError( "Should have implemented this" )

    """Roda o robo radians no sentido horario"""
    def rotate(self, radians):
        raise NotImplementedError( "Should have implemented this" )

    """Retornar verdadeiro ou falso, verdadeiro se leu branco."""
    def read(self):
        raise NotImplementedError( "Should have implemented this" )

# ------------------------------------------------------------------------
class VirtualRobot(Robot):
    def __init__(self, worldmap):
        self.x = np.random.rand()*worldmap.width
        self.y = np.random.rand()*worldmap.height
        self.heading = math.pi*2*np.random.rand()
        self.worldmap = worldmap

    def move(self, distance):
        self.x = self.x + (math.cos(self.heading) * distance)
        self.y = self.y + (math.sin(self.heading) * distance)

    def rotate(self, radians):
        self.heading += float(radians)
        self.heading %= 2 * math.pi

    def read(self):
        return self.worldmap.white(self.x, self.y)

# ------------------------------------------------------------------------
class LejosRobot(Robot):
    def __init__(self, worldmap):
        self.x = np.random.rand()*worldmap.width
        self.y = np.random.rand()*worldmap.height
        self.heading = math.pi*2*np.random.rand()
        self.worldmap = worldmap

    def move(self, distance):
        self.x = self.x + (math.cos(self.heading) * distance)
        self.y = self.y + (math.sin(self.heading) * distance)

    def rotate(self, radians):
        self.heading += float(radians)
        self.heading %= 2 * math.pi

    def read(self):
        return self.worldmap.white(self.x, self.y)