Finished

.idea/.idea.RobotIntelFinal/.idea/contentModel.xml

@@ -7,7 +7,6 @@
         <e p="Bootstrapper.cs" t="Include" />
         <e p="ConsoleApp.csproj" t="IncludeRecursive" />
         <e p="CoreModule.cs" t="Include" />
-        <e p="HexPlot.py" t="Include" />
         <e p="IJsonDeserializor.cs" t="Include" />
         <e p="IModule.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
@@ -51,6 +50,7 @@
           <e p="SquarePath.txt" t="Include" />
           <e p="SquareTest.png" t="Include" />
         </e>
+        <e p="Output 2.zip" t="Include" />
         <e p="Output.zip" t="Include" />
         <e p="PathPlanners" t="Include">
           <e p="IPathPlanner.cs" t="Include" />
@@ -58,6 +58,7 @@
           <e p="PathPlanner.cs" t="Include" />
           <e p="ReactivePathPlanner.cs" t="Include" />
         </e>
+        <e p="plotGraphs.py" t="Include" />
         <e p="Program.cs" t="Include" />
         <e p="Sim" t="Include">
           <e p="DetectionHead.cs" t="Include" />

.idea/.idea.RobotIntelFinal/.idea/workspace.xml

@@ -18,30 +18,24 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
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-      <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" afterDir="false" />
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-      <change beforePath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/plotGraphs.py" 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/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.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/Output/Data.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Data.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexCoverage.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexCoverage.png" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexCoveredCells.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexCoveredCells.txt" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexDetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexDetectedMines.txt" afterDir="false" />
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       <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexTest.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexTest.png" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Mines.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SquareCoverage.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SquareCoverage.png" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SquareCoveredCells.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SquareCoveredCells.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SquareDetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SquareDetectedMines.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SquarePath.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SquarePath.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SquareTest.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SquareTest.png" 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/PathPlanners/ReactivePathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.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/Sim/DetectionHead.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
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     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -115,7 +109,6 @@
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
@@ -129,7 +122,6 @@
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/AstarSquareSearch.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
@@ -139,8 +131,10 @@
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
-      <option value="$PROJECT_DIR$/ConsoleApp/HexPlot.py" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/HexPlot.py" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
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   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -152,7 +146,7 @@
     <option name="showLibraryContents" value="true" />
   </component>
   <component name="PropertiesComponent">
-    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.22377622" />
+    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.22508793" />
     <property name="DebuggerViewTab_PTCS_LastProportionKey" value="0.0" />
     <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
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@@ -220,7 +214,7 @@
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       <workItem from="1608146906461" duration="175000" />
-      <workItem from="1608147111263" duration="13487000" />
+      <workItem from="1608147111263" duration="16256000" />
     </task>
     <servers />
   </component>

ConsoleApp/ConsoleApp.csproj

@@ -22,7 +22,7 @@
       <None Update="Sim\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
-      <None Update="HexPlot.py">
+      <None Update="plotGraphs.py">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
     </ItemGroup>

ConsoleApp/Output/Data.txt

@@ -1,14 +1,14 @@
 General:
-	 Total Mines: 23
+	 Total Mines: 36
 Hex: 
-	 Total Moves: 420
+	 Total Moves: 687
-	 Bombs Found: 23
+	 Bombs Found: 35
-	 Cleared Cell Count: 2263
+	 Cleared Cell Count: 3591
-	 Uncleared Cell Count: 41
+	 Uncleared Cell Count: 9
-	 Percentage Cleared: 98.22048611111111
+	 Percentage Cleared: 99.75
 Square: 
-	 Total Moves: 553
+	 Total Moves: 1045
-	 Bombs Found: 20
+	 Bombs Found: 34
-	 Cleared Cell Count: 1996
+	 Cleared Cell Count: 3251
-	 Uncleared Cell Count: 308
+	 Uncleared Cell Count: 349
-	 Percentage Cleared: 86.63194444444444
+	 Percentage Cleared: 90.30555555555554

ConsoleApp/Output/HexDetectedMines.txt

@@ -1,23 +1,35 @@
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ConsoleApp/Output/HexPath.txt

@@ -46,32 +46,59 @@
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@@ -86,18 +113,18 @@
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@@ -172,72 +193,113 @@
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ConsoleApp/Output/Mines.txt

@@ -1,23 +1,36 @@
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ConsoleApp/Output/SquareDetectedMines.txt

@@ -1,20 +1,34 @@
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-35 37
+10 34
-29 38
+16 39
+19 27
+26 40
+33 42
+38 48
+34 51
+36 51
+30 50
+26 49
+27 54
+29 54
+45 48
+52 53
+50 42
+12 49

ConsoleApp/PathPlanners/PathPlanner.cs

@@ -42,9 +42,9 @@ namespace ConsoleApp.PathPlanners
                 path.AddRange(
                     map.GetShortestPath(
                         currentPostion, 
-                        map.GetCell(currentPostion.X, currentPostion.Y + vehicle.DetectorRadius * 2 - 1)));
+                        map.GetCell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2) - 1)));
 
-                currentPostion = new Cell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2 - 1));
+                currentPostion = new Cell(currentPostion.X, currentPostion.Y + (vehicle.DetectorRadius * 2) -1);
                 if (currentHeading == GlobalDirection.East)
                     currentHeading = GlobalDirection.West;
                 else

ConsoleApp/Program.cs

@@ -27,19 +27,10 @@ namespace ConsoleApp
 
         private static void Initialization()
         {
-            _userConsole.PrintStartMenu();
+            var (x,y) = _userConsole.GetMapDimensions();
-            var input = UserConsole.GetUserInput();
+            var minePercentage = 1;
-            if (input == "1")
+            RunSimulation(x, y, minePercentage);
-            {
+
-                var (x,y) = _userConsole.GetMapDimensions();
-                var minePercentage = UserConsole.GetMinePercentage();
-                RunSimulation(x, y, minePercentage);
-            }
-            else
-            {
-                UserConsole.PrintInvalidInput();
-                Initialization();
-            }
         }
 
         private static void RunSimulation(int x, int y, double minePercentage)
@@ -53,7 +44,7 @@ namespace ConsoleApp
         
         private static void GenerateImages()
         {
-            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
+            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plotGraphs.py");
             ProcessStartInfo startInfo = new ProcessStartInfo()
             {
                 FileName = "python3",

ConsoleApp/UserConsole.cs

@@ -24,18 +24,18 @@ namespace ConsoleApp
 
         public (int width, int height) GetMapDimensions()
         {
-            Console.WriteLine($"Enter map width: ");
+            Console.WriteLine($"Enter map width (5-15) meters: ");
             var x = GetUserInput();
 
-            if (!int.TryParse(x, out var width))
+            if (!int.TryParse(x, out var width) && width >= 5 && width <= 15)
             {
                 PrintInvalidInput();
                 GetMapDimensions();
             }
 
-            Console.WriteLine($"Enter map height: ");
+            Console.WriteLine($"Enter map height (5-15) meters: ");
             var y = GetUserInput();
-            if (int.TryParse(y, out var height)) return (width, height);
+            if (int.TryParse(y, out var height) && height >= 5 && height <= 15) return (width, height);
             PrintInvalidInput();
             GetMapDimensions();
             return (width, height);

ConsoleApp/plotGraphs.py

@@ -68,10 +68,9 @@ if __name__ == "__main__":
             yf.append(int(y))
             
     fig = plt.figure(1)
-    plt.plot(xc, yc)
+    plt.plot(xc, yc, 'h', label='vehicle',  color='blue', linestyle='None')
-    plt.plot(xc, yc, 'o', label='vehicle',  color='blue')
+    plt.plot(xm, ym, 'h', label='all mines', color='red', linestyle='None')
-    plt.plot(xm, ym, 'o', label='all mines', color='red')
+    plt.plot(xf, yf, 'h', label='detected mines', color='orange', linestyle='None')
-    plt.plot(xf, yf, 'o', label='detected mines', color='orange')
     plt.title('Hex Simulation')
     plt.legend(loc='lower left', fontsize='xx-small')
     matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexTest.png')
@@ -80,10 +79,9 @@ if __name__ == "__main__":
     plt.close(fig)
     
     fig = plt.figure(2)
-    plt.plot(sxc, syc)
+    plt.plot(sxc, syc, 's', label='vehicle',  color='blue', linestyle='None')
-    plt.plot(sxc, syc, 'o', label='vehicle',  color='blue')
+    plt.plot(sxm, sym, 's', label='all mines', color='red', linestyle='None')
-    plt.plot(sxm, sym, 'o', label='all mines', color='red')
+    plt.plot(sxf, syf, 's', label='detected mines', color='orange', linestyle='None')
-    plt.plot(sxf, syf, 'o', label='detected mines', color='orange')
     plt.title('Square Simulation')
     plt.legend(loc='lower left', fontsize='xx-small')
     matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareTest.png')
@@ -91,8 +89,8 @@ if __name__ == "__main__":
     plt.close(fig)
     
     fig = plt.figure(3)
-    plt.plot(hccx, hccy, 'o', label='covered cells', color='red')
+    plt.plot(hccx, hccy, 'h', label='covered cells', color='red', linestyle='None')
-    plt.plot(xf, xy, 'o', label='detected mines',  color='blue')
+    plt.plot(xf, yf, 'h', label='detected mines',  color='blue', linestyle='None')
     plt.title('Hex Coverage')
     plt.legend(loc='lower left', fontsize='xx-small')
     matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoverage.png')
@@ -100,8 +98,8 @@ if __name__ == "__main__":
     plt.close(fig)
     
     fig = plt.figure(4)
-    plt.plot(sccx, sccy, 'o', label='covered cells', color='red')
+    plt.plot(sccx, sccy, 's', label='covered cells', color='red', linestyle='None')
-    plt.plot(sxf, syf, 'o', label='detected mines',  color='blue')
+    plt.plot(sxf, syf, 's', label='detected mines',  color='blue', linestyle='None')
     plt.title('Square Coverage')
     plt.legend(loc='lower left', fontsize='xx-small')
     matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoverage.png')