From 4edcef4664b02ab61a8b01cb784ec462176a6306 Mon Sep 17 00:00:00 2001
From: Brady Bodily <bradybod@gmail.com>
Date: Tue, 15 Dec 2020 18:19:07 -0700
Subject: [PATCH] Created Mine Map and ReactivePlanner

---
 .../.idea/contentModel.xml                    |  11 +-
 .../.idea.RobotIntelFinal/.idea/workspace.xml | 100 ++++++++++++------
 ConsoleApp/ConsoleApp.csproj                  |   2 +-
 ConsoleApp/CoreModule.cs                      |   4 +-
 ConsoleApp/Maps/Cell.cs                       |  10 +-
 ConsoleApp/Maps/ICell.cs                      |   1 +
 ConsoleApp/Maps/IMapFactory.cs                |   3 +-
 ConsoleApp/Maps/IMineMap.cs                   |   7 ++
 ConsoleApp/Maps/MapExtensions.cs              |  20 ++++
 ConsoleApp/Maps/MapFactory.cs                 |   8 +-
 ConsoleApp/Maps/MineMap.cs                    |  33 ++++++
 ConsoleApp/PathPlanners/IPathPlanner.cs       |   5 +-
 .../PathPlanners/IReactivePathPlanner.cs      |  10 ++
 ConsoleApp/PathPlanners/PathPlanner.cs        |  77 ++++++++++++--
 .../PathPlanners/ReactivePathPlanner.cs       |  20 ++++
 ConsoleApp/Program.cs                         |  11 +-
 ConsoleApp/{Vehicle => Sim}/DetectionHead.cs  |   8 +-
 ConsoleApp/{Vehicle => Sim}/IVehicle.cs       |   2 +-
 ConsoleApp/{Vehicle => Sim}/Vehicle.cs        |   7 +-
 .../{Vehicle => Sim}/VehicleConfiguration.cs  |   2 +-
 ConsoleApp/Sim/VehicleConfiguration.json      |   6 ++
 ConsoleApp/SimRunner.cs                       |  10 +-
 ConsoleApp/UserConsole.cs                     |  30 ++++--
 ConsoleApp/Vehicle/VehicleConfiguration.json  |   6 --
 24 files changed, 309 insertions(+), 84 deletions(-)
 create mode 100644 ConsoleApp/Maps/IMineMap.cs
 create mode 100644 ConsoleApp/Maps/MapExtensions.cs
 create mode 100644 ConsoleApp/Maps/MineMap.cs
 create mode 100644 ConsoleApp/PathPlanners/IReactivePathPlanner.cs
 create mode 100644 ConsoleApp/PathPlanners/ReactivePathPlanner.cs
 rename ConsoleApp/{Vehicle => Sim}/DetectionHead.cs (71%)
 rename ConsoleApp/{Vehicle => Sim}/IVehicle.cs (92%)
 rename ConsoleApp/{Vehicle => Sim}/Vehicle.cs (80%)
 rename ConsoleApp/{Vehicle => Sim}/VehicleConfiguration.cs (88%)
 create mode 100644 ConsoleApp/Sim/VehicleConfiguration.json
 delete mode 100644 ConsoleApp/Vehicle/VehicleConfiguration.json

diff --git a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
index 2c926b7..83db942 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml
@@ -20,8 +20,11 @@
           <e p="ICell.cs" t="Include" />
           <e p="IHexMap.cs" t="Include" />
           <e p="IMapFactory.cs" t="Include" />
+          <e p="IMineMap.cs" t="Include" />
           <e p="ISquareMap.cs" t="Include" />
+          <e p="MapExtensions.cs" t="Include" />
           <e p="MapFactory.cs" t="Include" />
+          <e p="MineMap.cs" t="Include" />
           <e p="SquareMap.cs" t="Include" />
         </e>
         <e p="obj" t="ExcludeRecursive">
@@ -33,18 +36,20 @@
         </e>
         <e p="PathPlanners" t="Include">
           <e p="IPathPlanner.cs" t="Include" />
+          <e p="IReactivePathPlanner.cs" t="Include" />
           <e p="PathPlanner.cs" t="Include" />
+          <e p="ReactivePathPlanner.cs" t="Include" />
         </e>
         <e p="Program.cs" t="Include" />
-        <e p="SimRunner.cs" t="Include" />
-        <e p="UserConsole.cs" t="Include" />
-        <e p="Vehicle" t="Include">
+        <e p="Sim" t="Include">
           <e p="DetectionHead.cs" t="Include" />
           <e p="IVehicle.cs" t="Include" />
           <e p="Vehicle.cs" t="Include" />
           <e p="VehicleConfiguration.cs" t="Include" />
           <e p="VehicleConfiguration.json" t="Include" />
         </e>
+        <e p="SimRunner.cs" t="Include" />
+        <e p="UserConsole.cs" t="Include" />
       </e>
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
diff --git a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
index 0a6ccca..0d747c3 100644
--- a/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
+++ b/.idea/.idea.RobotIntelFinal/.idea/workspace.xml
@@ -18,23 +18,29 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Program.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Program.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -55,47 +61,68 @@
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/0b/0953c23b/GraphFactory.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/f7/268fdeac/Graph.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/84/4eb9c798/GraphUtils.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/39B/EqualityComparer.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/11/Array.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/3A4/List.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/30/Where.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/8B2EA1A3-95EB-49F7-AF97-CA55CE776F10/4/Container.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/389/Comparer.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/3d/c367b191/Coordinate3D.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
     <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/14/12025305/MovementTypes.cs" root0="SKIP_HIGHLIGHTING" />
-    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
   </component>
   <component name="IdeDocumentHistory">
     <changedPaths>
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCoordinates.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ICell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
+      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -173,7 +200,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="28469000" />
+      <workItem from="1607993290571" duration="36241000" />
     </task>
     <servers />
   </component>
@@ -205,26 +232,39 @@
           <line>34</line>
           <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
             <startOffsets>
-              <option value="1512" />
+              <option value="1527" />
             </startOffsets>
             <endOffsets>
-              <option value="1528" />
+              <option value="1543" />
             </endOffsets>
           </properties>
           <option name="timeStamp" value="24" />
         </line-breakpoint>
         <line-breakpoint enabled="true" type="DotNet Breakpoints">
           <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
-          <line>61</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="62" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
+          <line>87</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="87" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
             <startOffsets>
-              <option value="2509" />
+              <option value="3651" />
             </startOffsets>
             <endOffsets>
-              <option value="2530" />
+              <option value="3667" />
             </endOffsets>
           </properties>
-          <option name="timeStamp" value="34" />
+          <option name="timeStamp" value="44" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
+          <line>85</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="85" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
+            <startOffsets>
+              <option value="3546" />
+            </startOffsets>
+            <endOffsets>
+              <option value="3612" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="46" />
         </line-breakpoint>
       </breakpoints>
     </breakpoint-manager>
diff --git a/ConsoleApp/ConsoleApp.csproj b/ConsoleApp/ConsoleApp.csproj
index 02c0777..6d8ae3b 100644
--- a/ConsoleApp/ConsoleApp.csproj
+++ b/ConsoleApp/ConsoleApp.csproj
@@ -19,7 +19,7 @@
     </ItemGroup>
 
     <ItemGroup>
-      <None Update="Vehicle\VehicleConfiguration.json">
+      <None Update="Sim\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
     </ItemGroup>
diff --git a/ConsoleApp/CoreModule.cs b/ConsoleApp/CoreModule.cs
index 53e0122..e0e2585 100644
--- a/ConsoleApp/CoreModule.cs
+++ b/ConsoleApp/CoreModule.cs
@@ -1,7 +1,6 @@
-using System.Text.Json;
-using System.Threading;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
+using ConsoleApp.Sim;
 using DryIoc;
 
 namespace ConsoleApp
@@ -15,6 +14,7 @@ namespace ConsoleApp
             container.Register<IVehicle, Vehicle>(Reuse.Singleton);
             container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
             container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
+            container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
         }
         
 
diff --git a/ConsoleApp/Maps/Cell.cs b/ConsoleApp/Maps/Cell.cs
index a5b5f14..ef9bfd4 100644
--- a/ConsoleApp/Maps/Cell.cs
+++ b/ConsoleApp/Maps/Cell.cs
@@ -2,16 +2,22 @@ using System;
 
 namespace ConsoleApp.Maps
 {
+    public enum Coverage
+    {
+        Uncoverd,
+        Covered
+    }
     public struct Cell : ICell
     {
         public int X { get; }
         public int Y { get; }
-
-
+        public Coverage Coverage { get; set; }
+        
         public Cell(int x, int y)
         {
             X = x;
             Y = y;
+            Coverage = Coverage.Uncoverd;
         }
 
         
diff --git a/ConsoleApp/Maps/ICell.cs b/ConsoleApp/Maps/ICell.cs
index 4faabb8..db8db85 100644
--- a/ConsoleApp/Maps/ICell.cs
+++ b/ConsoleApp/Maps/ICell.cs
@@ -4,5 +4,6 @@ namespace ConsoleApp.Maps
     {
         int X { get; }
         int Y { get; }
+        Coverage Coverage { get; set; }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMapFactory.cs b/ConsoleApp/Maps/IMapFactory.cs
index ec72df4..59cd0d3 100644
--- a/ConsoleApp/Maps/IMapFactory.cs
+++ b/ConsoleApp/Maps/IMapFactory.cs
@@ -8,8 +8,9 @@ namespace ConsoleApp.Maps
         int Height { get; }
         int Width { get; }
         int CellWidth { get; }
-        void GenerateMaps(int x, int y);
+        void GenerateMaps(int x, int y, double minePercentage);
         IHexMap GetHexMap();
         ISquareMap GetSquareMap();
+        IMineMap GetMineMap();
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Maps/IMineMap.cs b/ConsoleApp/Maps/IMineMap.cs
new file mode 100644
index 0000000..b21ed22
--- /dev/null
+++ b/ConsoleApp/Maps/IMineMap.cs
@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public interface IMineMap
+    {
+        bool[,] Map { get; }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapExtensions.cs b/ConsoleApp/Maps/MapExtensions.cs
new file mode 100644
index 0000000..8a046b4
--- /dev/null
+++ b/ConsoleApp/Maps/MapExtensions.cs
@@ -0,0 +1,20 @@
+namespace ConsoleApp.Maps
+{
+    public static class MapExtensions
+    {
+        public static void Fill2DArray<T>(this T[,] arr, T value)
+        {
+            int numRows = arr.GetLength(0);
+            int numCols = arr.GetLength(1);
+
+            for (int i = 0; i < numRows; ++i)
+            {
+                for (int j = 0; j < numCols; ++j)
+                {
+                    arr[i, j] = value;
+                }
+            }
+        }
+        
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Maps/MapFactory.cs b/ConsoleApp/Maps/MapFactory.cs
index 1866971..a7418dc 100644
--- a/ConsoleApp/Maps/MapFactory.cs
+++ b/ConsoleApp/Maps/MapFactory.cs
@@ -1,6 +1,6 @@
 using System;
 using System.Collections.Generic;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
 
 namespace ConsoleApp.Maps
 {
@@ -17,16 +17,20 @@ namespace ConsoleApp.Maps
         private ISquareMap _squareMap;
 
         private IHexMap _hexMap;
+        
+        private IMineMap _mineMap;
 
-        public void GenerateMaps(int x, int y)
+        public void GenerateMaps(int x, int y, double minePercentage)
         {
             Width = x;
             Height = y;
             _squareMap = new SquareMap(x, y);
             _hexMap = new HexMap(x, y);
+            _mineMap = new MineMap(x, y, minePercentage);
         }
         public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
         public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
+        public IMineMap GetMineMap() => _mineMap ?? throw new NullReferenceException("mine map not initialized");
 
         public MapFactory(IVehicle vehicle)
         {
diff --git a/ConsoleApp/Maps/MineMap.cs b/ConsoleApp/Maps/MineMap.cs
new file mode 100644
index 0000000..bd2b8b1
--- /dev/null
+++ b/ConsoleApp/Maps/MineMap.cs
@@ -0,0 +1,33 @@
+using System;
+using System.Collections.Generic;
+
+namespace ConsoleApp.Maps
+{
+    public class MineMap : IMineMap
+    {
+        private int _mineCount;
+        private int _x;
+        private int _y;
+        public bool[,] Map { get; }
+        public MineMap(int x, int y, double minePercentage)
+        {
+            _x = x;
+            _y = y;
+            _mineCount = x*y*((int)minePercentage/100);
+            Map = new bool[x, y];
+            Map.Fill2DArray(false);
+            PlaceMines();
+        }
+
+        private void PlaceMines()
+        {
+            var rand = new Random();
+            for (int i = 0; i < _mineCount; i++)
+            {
+                var x = rand.Next(_x);
+                var y = rand.Next(_y);
+                Map[x, y] = true;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/IPathPlanner.cs b/ConsoleApp/PathPlanners/IPathPlanner.cs
index a9bfdf7..7c8a4a0 100644
--- a/ConsoleApp/PathPlanners/IPathPlanner.cs
+++ b/ConsoleApp/PathPlanners/IPathPlanner.cs
@@ -1,13 +1,14 @@
 using System.Collections.Generic;
 using ConsoleApp.Maps;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
+using HexCore;
 
 namespace ConsoleApp.PathPlanners
 {
     public interface IPathPlanner
     {
         Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
-        Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
+        Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
     }
     
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/IReactivePathPlanner.cs b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
new file mode 100644
index 0000000..68375a1
--- /dev/null
+++ b/ConsoleApp/PathPlanners/IReactivePathPlanner.cs
@@ -0,0 +1,10 @@
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public interface IReactivePathPlanner
+    {
+        Queue<Coordinate2D> ReactiveHexPath { get; }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/PathPlanner.cs b/ConsoleApp/PathPlanners/PathPlanner.cs
index a88d179..5f50a66 100644
--- a/ConsoleApp/PathPlanners/PathPlanner.cs
+++ b/ConsoleApp/PathPlanners/PathPlanner.cs
@@ -1,7 +1,8 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using ConsoleApp.Maps;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
 using HexCore;
 
 namespace ConsoleApp.PathPlanners
@@ -55,12 +56,76 @@ namespace ConsoleApp.PathPlanners
             return path;
         }
         
-        public Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
+        public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
         {
-            // var t = hexMap.Graph.GetMovementRange(
-            //     new Coordinate2D(0, 0, hexMap.OffsetType), 2, hexMap.DefaultMovement);
-            // Console.WriteLine(t);
-            throw new NotImplementedException();
+            var currentPostion = vehicle.CurrentHexCell;
+            var currentHeading = GlobalDirection.East;
+            var finished = false;
+            var path = new List<Coordinate2D>();
+            while (!finished)
+            {
+                if (currentHeading == GlobalDirection.East)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
+                }
+                
+                else if(currentHeading == GlobalDirection.West)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType);
+                    
+                }
+
+                if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
+                {
+                    finished = true;
+                    break;
+                }
+
+                Coordinate2D tmpPosition;
+                    if(currentHeading == GlobalDirection.East) 
+                        tmpPosition = new Coordinate3D(
+                            currentPostion.To3D().X-1, 
+                            currentPostion.To3D().Y,
+                            currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
+                    else
+                        tmpPosition = new Coordinate3D(
+                            currentPostion.To3D().X, 
+                            currentPostion.To3D().Y-1,
+                            currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
+                while (hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius*2).Contains(tmpPosition))
+                {
+                    if(currentHeading == GlobalDirection.East) 
+                        tmpPosition = new Coordinate3D(
+                            tmpPosition.To3D().X-1, 
+                            tmpPosition.To3D().Y,
+                            tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
+                    else
+                        tmpPosition = new Coordinate3D(
+                            tmpPosition.To3D().X, 
+                            tmpPosition.To3D().Y-1,
+                            tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
+                }
+                path.AddRange(hexMap.Graph.GetShortestPath(
+                    currentPostion,
+                    tmpPosition,
+                    hexMap.DefaultMovement));
+                currentPostion = tmpPosition;
+                if (currentHeading == GlobalDirection.East)
+                    currentHeading = GlobalDirection.West;
+                else
+                    currentHeading = GlobalDirection.East;
+
+
+            }
+            return new Queue<Coordinate2D>(path);
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/PathPlanners/ReactivePathPlanner.cs b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
new file mode 100644
index 0000000..a77e9b2
--- /dev/null
+++ b/ConsoleApp/PathPlanners/ReactivePathPlanner.cs
@@ -0,0 +1,20 @@
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public class ReactivePathPlanner : IReactivePathPlanner
+    {
+        public Queue<Coordinate2D> ReactiveHexPath { get; }
+
+        public ReactivePathPlanner()
+        {
+            ReactiveHexPath = new Queue<Coordinate2D>();
+        }
+
+        public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
+        {
+            
+        }
+    }
+}
\ No newline at end of file
diff --git a/ConsoleApp/Program.cs b/ConsoleApp/Program.cs
index ca6d342..4cc3a51 100644
--- a/ConsoleApp/Program.cs
+++ b/ConsoleApp/Program.cs
@@ -19,25 +19,26 @@ namespace ConsoleApp
         private static void Initialization()
         {
             _userConsole.PrintStartMenu();
-            var input = _userConsole.GetUserInput();
+            var input = UserConsole.GetUserInput();
             if (input == "1")
             {
                 var (x,y) = _userConsole.GetMapDimensions();
-                RunSimulation(x, y);
+                var minePercentage = UserConsole.GetMinePercentage();
+                RunSimulation(x, y, minePercentage);
             }
             else
             {
-                _userConsole.PrintInvalidInput();
+                UserConsole.PrintInvalidInput();
                 Initialization();
             }
         }
 
-        private static void RunSimulation(int x,int y)
+        private static void RunSimulation(int x, int y, double minePercentage)
         {
             var mapFactory = _bootstrapper.Resolve<IMapFactory>();
             var simRunner = _bootstrapper.Resolve<ISimRunner>();
             
-            mapFactory.GenerateMaps(x, y);
+            mapFactory.GenerateMaps(x, y, minePercentage);
             simRunner.Run();
         }
 
diff --git a/ConsoleApp/Vehicle/DetectionHead.cs b/ConsoleApp/Sim/DetectionHead.cs
similarity index 71%
rename from ConsoleApp/Vehicle/DetectionHead.cs
rename to ConsoleApp/Sim/DetectionHead.cs
index 3217927..a510d3c 100644
--- a/ConsoleApp/Vehicle/DetectionHead.cs
+++ b/ConsoleApp/Sim/DetectionHead.cs
@@ -2,17 +2,17 @@ using System.Collections.Generic;
 using ConsoleApp.Maps;
 using HexCore;
 
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
-    public class DetectionHead
+    public static class DetectionHead
     {
-        public List<Coordinate2D> GetCoveredCells(
+        public static List<Coordinate2D> GetCoveredCells(
             Graph graph,
             Coordinate2D centerCoordinate,
             int detectorRadius,
             GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
 
-        public List<Cell> GetCoveredCells(
+        public static List<Cell> GetCoveredCells(
             ISquareMap squareMap,
             Cell centerCell,
             int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
diff --git a/ConsoleApp/Vehicle/IVehicle.cs b/ConsoleApp/Sim/IVehicle.cs
similarity index 92%
rename from ConsoleApp/Vehicle/IVehicle.cs
rename to ConsoleApp/Sim/IVehicle.cs
index 94fe591..3db6ae0 100644
--- a/ConsoleApp/Vehicle/IVehicle.cs
+++ b/ConsoleApp/Sim/IVehicle.cs
@@ -1,6 +1,6 @@
 using ConsoleApp.Maps;
 
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
     public interface IVehicle
     {
diff --git a/ConsoleApp/Vehicle/Vehicle.cs b/ConsoleApp/Sim/Vehicle.cs
similarity index 80%
rename from ConsoleApp/Vehicle/Vehicle.cs
rename to ConsoleApp/Sim/Vehicle.cs
index 3a07573..e4cc62d 100644
--- a/ConsoleApp/Vehicle/Vehicle.cs
+++ b/ConsoleApp/Sim/Vehicle.cs
@@ -1,6 +1,6 @@
 using ConsoleApp.Maps;
 
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
     public class Vehicle : IVehicle
     {
@@ -13,20 +13,19 @@ namespace ConsoleApp.Vehicle
         public Heading HexHeading { get; set; }
         public Heading SquareHeading { get; set; }
         public ICell CurrentSquareCell { get; set; }
-        public DetectionHead DetectionHead { get; }
+        
         
 
         
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
-            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Vehicle/VehicleConfiguration.json");
+            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
             Length = config.Length;
             Width = config.Width;
             DetectorRadius = config.DetectorRadius;
             DetectorOffset = config.DetectorOffset;
             CurrentHexCell = default;
             CurrentSquareCell = default;
-            DetectionHead = new DetectionHead();
         }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Vehicle/VehicleConfiguration.cs b/ConsoleApp/Sim/VehicleConfiguration.cs
similarity index 88%
rename from ConsoleApp/Vehicle/VehicleConfiguration.cs
rename to ConsoleApp/Sim/VehicleConfiguration.cs
index 42411a5..74c2b50 100644
--- a/ConsoleApp/Vehicle/VehicleConfiguration.cs
+++ b/ConsoleApp/Sim/VehicleConfiguration.cs
@@ -1,4 +1,4 @@
-namespace ConsoleApp.Vehicle
+namespace ConsoleApp.Sim
 {
     public class VehicleConfiguration
     {
diff --git a/ConsoleApp/Sim/VehicleConfiguration.json b/ConsoleApp/Sim/VehicleConfiguration.json
new file mode 100644
index 0000000..adb580b
--- /dev/null
+++ b/ConsoleApp/Sim/VehicleConfiguration.json
@@ -0,0 +1,6 @@
+{
+  "Length": 3,
+  "Width": 2,
+  "DetectorRadius": 3,
+  "DetectorOffset": 2
+}
\ No newline at end of file
diff --git a/ConsoleApp/SimRunner.cs b/ConsoleApp/SimRunner.cs
index 6aad005..be04c2d 100644
--- a/ConsoleApp/SimRunner.cs
+++ b/ConsoleApp/SimRunner.cs
@@ -4,7 +4,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
-using ConsoleApp.Vehicle;
+using ConsoleApp.Sim;
 using HexCore;
 
 namespace ConsoleApp
@@ -16,20 +16,23 @@ namespace ConsoleApp
 
         private int _cellWidth;
         private IPathPlanner _pathPlanner;
+        private IMineMap _mineMap;
+        private IReactivePathPlanner _reactivePathPlanner;
 
 
-        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner)
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
         {
            
             _cellWidth = mapFactory.CellWidth;
             _mapFactory = mapFactory;
             _vehicle = vehicle;
             _pathPlanner = pathPlanner;
+            _reactivePathPlanner = reactivePathPlanner;
         }
 
         public void Run()
         {
-
+            _mineMap = _mapFactory.GetMineMap();
             SquareSimulation();
             HexSimulation();
             // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
@@ -41,6 +44,7 @@ namespace ConsoleApp
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
             var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
+            var reactivePath = _reactivePathPlanner.ReactiveHexPath;
         }
         
 
diff --git a/ConsoleApp/UserConsole.cs b/ConsoleApp/UserConsole.cs
index b76ee46..f59b44e 100644
--- a/ConsoleApp/UserConsole.cs
+++ b/ConsoleApp/UserConsole.cs
@@ -18,14 +18,11 @@ namespace ConsoleApp
                               $"\t 2: Load custom map. \n");
         }
 
-        public string GetUserInput() => Console.ReadLine();
+        public static string GetUserInput() => Console.ReadLine();
 
-        public void PrintInvalidInput()
-        {
-            Console.WriteLine($"Invalid input try again \n");
-        }
+        public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
 
-        public (int width, int height) GetMapDimensions()
+            public (int width, int height) GetMapDimensions()
         {
             Console.WriteLine($"Enter map height: ");
             var x = GetUserInput();
@@ -38,12 +35,23 @@ namespace ConsoleApp
 
             Console.WriteLine($"Enter map height: ");
             var y = GetUserInput();
-            if(!int.TryParse(y, out var height))
-            {
-                PrintInvalidInput();
-                GetMapDimensions();
-            }
+            if (int.TryParse(y, out var height)) return (width, height);
+            PrintInvalidInput();
+            GetMapDimensions();
             return (width, height);
         }
+
+        public static double GetMinePercentage()
+        {
+            
+            Console.WriteLine($"Enter desired percentage of mines: ");
+            var x = GetUserInput();
+
+            if (double.TryParse(x, out var percent)) return percent;
+            PrintInvalidInput();
+            GetMinePercentage();
+
+            return percent;
+        }
     }
 }
\ No newline at end of file
diff --git a/ConsoleApp/Vehicle/VehicleConfiguration.json b/ConsoleApp/Vehicle/VehicleConfiguration.json
deleted file mode 100644
index aaa1b9f..0000000
--- a/ConsoleApp/Vehicle/VehicleConfiguration.json
+++ /dev/null
@@ -1,6 +0,0 @@
-{
-  "Length": 3,
-  "Width": 2,
-  "DetectorWidth": 3,
-  "DetectorOffset": 1
-}
\ No newline at end of file