Hex is done and working

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

@@ -7,9 +7,11 @@
         <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" />
+        <e p="ISimulationResults.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
@@ -35,10 +37,10 @@
           </e>
         </e>
         <e p="Output" t="Include">
-          <e p="DetectedMines.txt" t="Include" />
+          <e p="Data.txt" t="Include" />
-          <e p="Mines.txt" t="Include" />
+          <e p="HexDetectedMines.txt" t="Include" />
-          <e p="SavedList.txt" t="Include" />
+          <e p="HexPath.txt" t="Include" />
-          <e p="test.png" t="Include" />
+          <e p="HexTest.png" t="Include" />
         </e>
         <e p="PathPlanners" t="Include">
           <e p="IPathPlanner.cs" t="Include" />
@@ -46,7 +48,6 @@
           <e p="PathPlanner.cs" t="Include" />
           <e p="ReactivePathPlanner.cs" t="Include" />
         </e>
-        <e p="plot.py" t="Include" />
         <e p="Program.cs" t="Include" />
         <e p="Sim" t="Include">
           <e p="DetectionHead.cs" t="Include" />
@@ -56,6 +57,7 @@
           <e p="VehicleConfiguration.json" t="Include" />
         </e>
         <e p="SimRunner.cs" t="Include" />
+        <e p="SimulationResults.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
       </e>
       <e p="packages" t="ExcludeRecursive" />

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

@@ -18,29 +18,21 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/plot.py" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.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/Maps/HexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.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/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.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/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.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/DetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" 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/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" 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/Output/test.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/test.png" 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/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.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.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/UserConsole.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/plot.py" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/HexPlot.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -129,7 +121,6 @@
       <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/CoreModule.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/CellExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapExtensions.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/IVehicle.cs" />
@@ -138,19 +129,22 @@
       <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.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/Sim/VehicleConfiguration.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
       <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/ReactivePathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/plot.py" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMineMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -228,7 +222,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="69552000" />
+      <workItem from="1607993290571" duration="72449000" />
     </task>
     <servers />
   </component>

ConsoleApp/ConsoleApp.csproj

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

ConsoleApp/CoreModule.cs

@@ -15,6 +15,7 @@ namespace ConsoleApp
             container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
             container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
             container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
+            container.Register<ISimulationResults, SimulationResults>(Reuse.Singleton);
         }
         
 

ConsoleApp/HexPlot.py

@@ -10,7 +10,7 @@ if __name__ == "__main__":
     ym = []
     xf = []
     yf = []
-    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt") as c:
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt") as c:
         for line in c:
             x, y = line.split()
             xc.append(int(x))
@@ -22,7 +22,7 @@ if __name__ == "__main__":
             xm.append(int(x))
             ym.append(int(y))
 
-    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt") as f:
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt") as f:
         for line in f:
             x, y = line.split()
             xf.append(int(x))
@@ -32,8 +32,8 @@ if __name__ == "__main__":
     plt.plot(xc, yc, 'o', label='vehicle',  color='blue')
     plt.plot(xm, ym, 'o', label='all mines', color='red')
     plt.plot(xf, yf, 'o', label='detected mines', color='orange')
-    plt.title('test 9')
+    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/test.png')
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexTest.png')
     plt.close(fig)

ConsoleApp/ISimulationResults.cs

@@ -0,0 +1,19 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp
+{
+    public interface ISimulationResults
+    {
+        void WriteResults();
+        int HexTotalMoves { get; set; }
+        int HexBombsFound { get; set; }
+        int TotalBombs { get; set; }
+        List<Coordinate2D> HexPath { get; set; }
+        List<Coordinate2D> HexMappedBombs { get; set; }
+        List<Cell> Mines { get; set; }
+        int HexClearedCells { get; set; }
+        int HexUnClearedCells { get; set; }
+    }
+}

ConsoleApp/Maps/IMineMap.cs

@@ -1,3 +1,5 @@
+using System.Collections.Generic;
+
 namespace ConsoleApp.Maps
 {
     public interface IMineMap
@@ -6,5 +8,6 @@ namespace ConsoleApp.Maps
         
         int TotalBombs { get; }
         bool GetCell(int x, int y);
+        List<Cell> PlacedMines { get; }
     }
 }

ConsoleApp/Maps/MineMap.cs

@@ -12,23 +12,19 @@ namespace ConsoleApp.Maps
         private int _y;
         public bool[,] Map { get; }
         public int TotalBombs { get; }
-        private List<Cell> _placedMines;
+        public List<Cell> PlacedMines { get; }
 
         public MineMap(int x, int y, double minePercentage)
         {
             _x = x;
             _y = y;
-            _placedMines = new List<Cell>();
+            PlacedMines = new List<Cell>();
             _mineCount = (int)(x*y*(minePercentage/100));
             TotalBombs = _mineCount;
             Map = new bool[x, y];
             Map.Fill2DArray(false);
             PlaceMines();
-            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
+            
-            {
-                foreach (var s in _placedMines)
-                    tw.WriteLine($"{s.X} {s.Y}");
-            }
         }
         public bool GetCell(int x, int y) => Map[x,y];
 
@@ -47,7 +43,7 @@ namespace ConsoleApp.Maps
                 else
                 {
                     Map[x, y] = true;
-                    _placedMines.Add(new Cell(x,y));
+                    PlacedMines.Add(new Cell(x,y));
                 }
             }
         }

ConsoleApp/Output/Data.txt

@@ -0,0 +1,7 @@
+General:
+	 Total Mines: 23
+Hex: 
+	 Total Moves: 927
+	 Bombs Found: 23
+	 Cleared Cell Count: 2295
+	 Uncleared Cell Count: 9

ConsoleApp/Output/DetectedMines.txt

@@ -1,7 +0,0 @@
-8 5
-8 6
-5 11
-9 10
-13 9
-13 14
-10 13

ConsoleApp/Output/HexPath.txt

@@ -0,0 +1,927 @@
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ConsoleApp/Output/Mines.txt

@@ -1,8 +0,0 @@
-5 11
-8 6
-13 14
-9 10
-13 9
-10 13
-10 6
-8 5

ConsoleApp/Output/SavedList.txt

@@ -1,150 +0,0 @@
-0 0
-1 0
-2 0
-3 0
-4 0
-5 0
-6 0
-7 0
-8 0
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ConsoleApp/Program.cs

@@ -15,34 +15,14 @@ namespace ConsoleApp
         static void Main(string[] args)
         {
             _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
+            var simResults = _bootstrapper.Resolve<ISimulationResults>();
             _userConsole = new UserConsole();
             Initialization();
-            GenerateImages();
+            simResults.WriteResults();
             Console.WriteLine("Program Completed");
         }
 
-        private static void GenerateImages()
+       
-        {
-            // var generateMap= "python3 ConsoleApp/plot.py";
-            // System.Diagnostics.Process.Start("CMD.exe",generateMap);
-            //
-            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plot.py");
-            ProcessStartInfo startInfo = new ProcessStartInfo()
-            {
-                FileName = "python3",
-                Arguments = file,
-                UseShellExecute = true
-            };
-            Process proc = new Process()
-            {
-                StartInfo = startInfo,
-            };
-            proc.Start();
-            while (!proc.HasExited)
-            {
-                Thread.Sleep(500);
-            }
-        }
 
         private static void Initialization()
         {

ConsoleApp/SimRunner.cs

@@ -24,19 +24,23 @@ namespace ConsoleApp
         private IReactivePathPlanner _reactivePathPlanner;
         private HashSet<Coordinate2D> hexBombsFound = new HashSet<Coordinate2D>();
         private List<Coordinate2D> testingPath = new List<Coordinate2D>();
+        private ISimulationResults _simulationResults;
 
 
-        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner, ISimulationResults simulationResults)
         {
             _mapFactory = mapFactory;
             _vehicle = vehicle;
             _pathPlanner = pathPlanner;
             _reactivePathPlanner = reactivePathPlanner;
+            _simulationResults = simulationResults;
         }
 
         public void Run()
         {
             _mineMap = _mapFactory.GetMineMap();
+            _simulationResults.Mines = _mineMap.PlacedMines;
+            _simulationResults.TotalBombs = _mineMap.TotalBombs;
             SquareSimulation();
             HexSimulation();
             // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
@@ -48,13 +52,12 @@ namespace ConsoleApp
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
             var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
-            var minimumMoves = optimalPath.Count;
             var finished = false;
             var totalMoves = 0;
             while (!finished)
             {
                 totalMoves += 1;
-                testingPath.Add(_vehicle.CurrentHexCell);
+                _simulationResults.HexPath.Add(_vehicle.CurrentHexCell);
 
                 var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
                 //Check Cells for mine
@@ -80,63 +83,38 @@ namespace ConsoleApp
                         break;
                     }
 
-                    var replan = false;
+                    if (hexMap.Graph.IsCellBlocked(nextOptimal))
-                    //if the next optimal cell is blocked then we need to replan around it.
-                    while (hexMap.Graph.IsCellBlocked(nextOptimal))
                     {
-                        replan = true;
+                        _reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
-                        if (optimalPath.TryDequeue(out nextOptimal)) continue;
-                        finished = true;
-                        break;
                     }
-                    if(replan)
+                    else
-                    {
-                        var tmpPath =
-                            hexMap.Graph.GetShortestPath(_vehicle.CurrentHexCell, nextOptimal, hexMap.DefaultMovement);
-                        if (Math.Abs(_vehicle.CurrentHexCell.X - nextOptimal.X) > 1 || Math.Abs(_vehicle.CurrentHexCell.Y - nextOptimal.Y) > 1)
-                            optimalPath.Dequeue();
-                        tmpPath.AddRange(optimalPath);
-                        
-                        optimalPath.Clear();
-                        foreach (var cell in tmpPath)
-                        {
-                            optimalPath.Enqueue(cell);
-                        }
-                        optimalPath.TryDequeue(out nextOptimal);
-                    }
-
-                    var last = testingPath[testingPath.Count-1];
-                    if (Math.Abs(last.X - nextOptimal.X) > 1 || Math.Abs(last.Y - nextOptimal.Y) > 1)
-                        Console.WriteLine("To big of a gap");
-                  
                         _vehicle.CurrentHexCell = nextOptimal;
                 }
             }
             
             
             //Debugging information
-            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SavedList.txt"))
+            var (cleared, uncleared) = CoveredCells();
-            {
+            _simulationResults.HexClearedCells = cleared;
-                foreach (Coordinate2D s in testingPath)
+            _simulationResults.HexUnClearedCells = uncleared;
-                    tw.WriteLine($"{s.X} {s.Y}");
+            _simulationResults.HexTotalMoves = totalMoves;
-            }
+            _simulationResults.HexBombsFound = hexBombsFound.Count;
-            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/DetectedMines.txt"))
-            {
-                foreach (Coordinate2D s in hexBombsFound)
-                    tw.WriteLine($"{s.X} {s.Y}");
-            }
-            var covered = CoveredCells();
-            Console.WriteLine($"Total cells traversed: {totalMoves} \n" +
-                              $"Minimum required: {minimumMoves}");
-            Console.WriteLine($"Total bombs found: {hexBombsFound.Count}/{_mineMap.TotalBombs}");
-            
         }
 
-        private int CoveredCells()
+        private (int, int) CoveredCells()
         {
+            var cleared = 0;
+            var uncleared = 0;
             var hexMap = _mapFactory.GetHexMap();
-            //for()
+            foreach (var cellState in hexMap.Graph.GetAllCells())
-            return 0;
+            {
+                if (cellState.TerrainType.Id == hexMap.ClearedTerrain.Id)
+                    cleared++;
+                if (cellState.TerrainType.Id == hexMap.UnclearedTerrain.Id)
+                    uncleared++;
+            }
+
+            return (cleared, uncleared);
         }
 
 
@@ -158,11 +136,6 @@ namespace ConsoleApp
             var cellsToBlock = hexMap.Graph.GetRange(cell, _vehicle.Width / 2);
             hexMap.Graph.BlockCells(cellsToBlock);
             
-            // //debugging
-            // foreach (var celllll in cellsToBlock)
-            // {
-            //     Console.WriteLine($"({celllll.X}, {celllll.Y}) Blocked: {hexMap.Graph.GetCellState(celllll).IsBlocked}");    
-            // }
         }
 
 

ConsoleApp/SimulationResults.cs

@@ -0,0 +1,104 @@
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Reflection;
+using System.Threading;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp
+{
+    public class SimulationResults : ISimulationResults
+    {
+        public int HexTotalMoves { get; set; }
+        public int HexBombsFound { get; set; }
+        public int TotalBombs { get; set; }
+        public List<Coordinate2D> HexPath { get; set; }
+        public List<Coordinate2D> HexMappedBombs { get; set; }
+        public List<Cell> Mines { get; set; }
+        public int HexClearedCells { get; set; }
+        public int HexUnClearedCells { get; set; }
+
+        public SimulationResults()
+        {
+            HexTotalMoves = 0;
+            HexBombsFound = 0;
+            TotalBombs = 0;
+            HexPath = new List<Coordinate2D>();
+            HexMappedBombs = new List<Coordinate2D>();
+            Mines = new List<Cell>();
+            HexClearedCells = 0;
+            HexUnClearedCells = 0;
+        }
+
+        public void WriteResults()
+        {
+            WriteData();
+            WriteMines();
+            WritePaths();
+            WriteDetectedMines();
+            GenerateImages();
+        }
+        
+        private static void GenerateImages()
+        {
+            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"HexPlot.py");
+            ProcessStartInfo startInfo = new ProcessStartInfo()
+            {
+                FileName = "python3",
+                Arguments = file,
+                UseShellExecute = true
+            };
+            Process proc = new Process()
+            {
+                StartInfo = startInfo,
+            };
+            proc.Start();
+            while (!proc.HasExited)
+            {
+                Thread.Sleep(500);
+            }
+        }
+
+        private void WriteData()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Data.txt"))
+            {
+                tw.WriteLine($"General:");
+                tw.WriteLine($"\t Total Mines: {TotalBombs}");
+                tw.WriteLine($"Hex: ");
+                tw.WriteLine($"\t Total Moves: {HexTotalMoves}");
+                tw.WriteLine($"\t Bombs Found: {HexBombsFound}");
+                tw.WriteLine($"\t Cleared Cell Count: {HexClearedCells}");
+                tw.WriteLine($"\t Uncleared Cell Count: {HexUnClearedCells}");
+            }
+        }
+
+        private void WriteMines()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt"))
+            {
+                foreach (var s in Mines)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+        }
+
+        private void WriteDetectedMines()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt"))
+            {
+                foreach (Coordinate2D s in HexMappedBombs)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+        }
+
+        private void WritePaths()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt"))
+            {
+                foreach (Coordinate2D s in HexPath)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+        }
+    }
+}