added to python script

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

@@ -10,9 +10,11 @@
         <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">
+          <e p="AstarSquareSearch.cs" t="Include" />
           <e p="Cell.cs" t="Include" />
           <e p="GlobalDirection.cs" t="Include" />
           <e p="Heading.cs" t="Include" />
@@ -34,12 +36,29 @@
             </e>
           </e>
         </e>
+        <e p="Output" t="Include">
+          <e p="Data.txt" t="Include" />
+          <e p="HexCoverage.png" t="Include" />
+          <e p="HexCoveredCells.txt" t="Include" />
+          <e p="HexDetectedMines.txt" t="Include" />
+          <e p="HexPath.txt" t="Include" />
+          <e p="HexTest.png" t="Include" />
+          <e p="Mines.txt" t="Include" />
+          <e p="SquareCoverage.png" t="Include" />
+          <e p="SquareCoveredCells.txt" t="Include" />
+          <e p="SquareDetectedMines.txt" t="Include" />
+          <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" />
           <e p="IReactivePathPlanner.cs" t="Include" />
           <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" />
@@ -49,6 +68,7 @@
           <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 +18,24 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <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/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/Output/Data.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/Data.txt" 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/Output/HexCoverage.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexCoverage.png" 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/Output/HexCoveredCells.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexCoveredCells.txt" 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/Output/HexDetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexDetectedMines.txt" 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/Output/HexPath.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexPath.txt" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Output/HexTest.png" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/HexTest.png" 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/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/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" />
@@ -59,28 +54,38 @@
   </component>
   <component name="HighlightingSettingsPerFile">
     <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="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/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/133/Thread.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/46/ThrowHelper.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="mock:///Dummy.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="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/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/39B/EqualityComparer.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/da/c3cabb46/AStarSearch.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="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/EB067793-5C3F-4219-AEF1-3AB117C20649/CD/ThrowHelper.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/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="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/B5/Random.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="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/1C5C65AB-6C84-402C-B333-F3A5A7121EFE/D/Queue.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" />
   </component>
@@ -95,34 +100,41 @@
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.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/Sim/IVehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MineMap.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/SimRunner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.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/Maps/ICell.cs" />
+      <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/Maps/AstarSquareSearch.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" />
+      <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/PathPlanners/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/HexPlot.py" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -134,13 +146,13 @@
     <option name="showLibraryContents" value="true" />
   </component>
   <component name="PropertiesComponent">
-    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.3496007" />
+    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.22508793" />
     <property name="DebuggerViewTab_PTCS_LastProportionKey" value="0.0" />
     <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
     <property name="WebServerToolWindowFactoryState" value="false" />
     <property name="nodejs_package_manager_path" value="npm" />
     <property name="restartRequiresConfirmation" value="false" />
-    <property name="settings.editor.selected.configurable" value="project.propDebugger" />
+    <property name="settings.editor.selected.configurable" value="configurable.group.build" />
     <property name="vue.rearranger.settings.migration" value="true" />
   </component>
   <component name="RunManager" selected=".NET Project.ConsoleApp">
@@ -200,7 +212,9 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="36241000" />
+      <workItem from="1607993290571" duration="88336000" />
+      <workItem from="1608146906461" duration="175000" />
+      <workItem from="1608147111263" duration="16256000" />
     </task>
     <servers />
   </component>
@@ -225,48 +239,10 @@
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
   <component name="XDebuggerManager">
-    <breakpoint-manager>
+    <pin-to-top-manager>
-      <breakpoints>
+      <pinned-members>
-        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+        <PinnedItemInfo parentTag="Frame#ConsoleApp.PathPlanners.PathPlanner.GenerateOptimalHexPath" memberName="path" />
-          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
+      </pinned-members>
-          <line>34</line>
+    </pin-to-top-manager>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
-            <startOffsets>
-              <option value="1527" />
-            </startOffsets>
-            <endOffsets>
-              <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>87</line>
-          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="87" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
-            <startOffsets>
-              <option value="3651" />
-            </startOffsets>
-            <endOffsets>
-              <option value="3667" />
-            </endOffsets>
-          </properties>
-          <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>
   </component>
 </project>

ConsoleApp/ConsoleApp.csproj

@@ -22,6 +22,13 @@
       <None Update="Sim\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
+      <None Update="plotGraphs.py">
+        <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+      </None>
+    </ItemGroup>
+
+    <ItemGroup>
+      <Folder Include="Output" />
     </ItemGroup>
 
 </Project>

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/ISimulationResults.cs

@@ -0,0 +1,27 @@
+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; }
+        List<ICell> SquarePath { get; set; }
+        List<ICell> SquareMappedBombs { get; set; }
+        int SquareCellsUncleared { get; set; }
+        int SquareCellsCleared { get; set; }
+        int SquareBombsFound { get; set; }
+        int SquareTotalMoves { get; set; }
+        List<ICell> SquareCoveredCells { get; set; }
+        List<Coordinate2D> HexCoveredCells { get; set; }
+    }
+}

ConsoleApp/Maps/AstarSquareSearch.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.Maps
+{
+    public class AstarSquareSearch
+    {
+        private static double Heuristic(ICell a, ICell b)
+        {
+            return Math.Abs(a.X - b.X) + Math.Abs(a.Y - b.Y);
+        }
+
+        public static List<ICell> FindShortestPath(ISquareMap graph, ICell start, ICell goal)
+        {
+            var costSoFar = new Dictionary<ICell, int>();
+            var cameFrom = new Dictionary<ICell, ICell>();
+            var frontier = new PriorityQueue<ICell>();
+
+            frontier.Enqueue(start, 0);
+            cameFrom[start] = start;
+            costSoFar[start] = 0;
+
+            while (frontier.Count > 0)
+            {
+                var current = frontier.Dequeue();
+
+                if (current.Equals(goal)) break;
+
+                foreach (var next in graph.GetPassableNeighbors(current))
+                {
+                    var newCost = costSoFar[current] + (int)graph.GetCell(next.X, next.Y).Coverage;
+                    if (costSoFar.ContainsKey(next) && newCost >= costSoFar[next]) continue;
+                    costSoFar[next] = newCost;
+                    var priority = newCost + Heuristic(next, goal);
+                    frontier.Enqueue(next, priority);
+                    cameFrom[next] = current;
+                }
+            }
+
+            var path = new List<ICell>();
+            var pathWasNotFound = !cameFrom.ContainsKey(goal);
+
+            // Returning an empty list if the path wasn't found
+            if (pathWasNotFound) return path;
+
+            // Reconstructing path
+            var curr = goal;
+            while (!curr.Equals(start))
+            {
+                path.Add(curr);
+                curr = cameFrom[curr];
+            }
+
+            // Reverse it to start at actual start point
+            path.Reverse();
+            return path;
+        }
+    }
+}

ConsoleApp/Maps/Cell.cs

@@ -4,20 +4,23 @@ namespace ConsoleApp.Maps
 {
     public enum Coverage
     {
-        Uncoverd,
+        //Order here matters these are cast to ints for the heuristic algorithm
+        Uncovered,
         Covered
     }
-    public struct Cell : ICell
+    public class Cell : ICell
     {
         public int X { get; }
         public int Y { get; }
         public Coverage Coverage { get; set; }
+        public bool Blocked { get; set; }
         
         public Cell(int x, int y)
         {
             X = x;
             Y = y;
-            Coverage = Coverage.Uncoverd;
+            Coverage = Coverage.Uncovered;
+            Blocked = false;
         }
 
         

ConsoleApp/Maps/HexMap.cs

@@ -17,6 +17,9 @@ namespace ConsoleApp.Maps
         
         public OffsetTypes OffsetType { get; }
         public MovementType DefaultMovement { get; }
+        public TerrainType ClearedTerrain { get; }
+
+        public TerrainType UnclearedTerrain { get; }
 
 
         /// <summary>
@@ -28,33 +31,26 @@ namespace ConsoleApp.Maps
         {
             //Set Offset Type for 2d -> 3d conversion
             OffsetType = OffsetTypes.OddRowsRight;
-            //convert to cm
-            x *= 100;
-            y *= 100;
 
-            //calculate number of cells on x and y axis
+            Height = y;
-            var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
+            Width = x;
-            var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
             
-            Height = yCellCount;
+            UnclearedTerrain = new TerrainType(1, "uncleared");
-            Width = xCellCount;
+            ClearedTerrain = new TerrainType(2, "cleared");
-            
-            var unclearedTerrain = new TerrainType(1, "uncleared");
-            var clearedTerrain = new TerrainType(2, "cleared");
             
             DefaultMovement = new MovementType(1, "default");
             var movementTypes = new MovementTypes(
-                new ITerrainType[] { unclearedTerrain, clearedTerrain }, 
+                new ITerrainType[] { UnclearedTerrain, ClearedTerrain }, 
                 new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
                 {
                     [DefaultMovement] = new Dictionary<ITerrainType, int>
                     {
-                        [unclearedTerrain] = 1,
+                        [UnclearedTerrain] = 1,
-                        [clearedTerrain] = 2
+                        [ClearedTerrain] = 2
                     }
                 }
             );
-            Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
+            Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, UnclearedTerrain);
         }
 
 

ConsoleApp/Maps/ICell.cs

@@ -5,5 +5,6 @@ namespace ConsoleApp.Maps
         int X { get; }
         int Y { get; }
         Coverage Coverage { get; set; }
+        bool Blocked { get; set; }
     }
 }

ConsoleApp/Maps/IHexMap.cs

@@ -9,5 +9,7 @@ namespace ConsoleApp.Maps
         int Width { get; }
         int Height { get; }
         MovementType DefaultMovement { get; }
+        public TerrainType ClearedTerrain { get; }
+        public TerrainType UnclearedTerrain { get; }
     }
 }

ConsoleApp/Maps/IMapFactory.cs

@@ -7,7 +7,6 @@ namespace ConsoleApp.Maps
     {
         int Height { get; }
         int Width { get; }
-        int CellWidth { get; }
         void GenerateMaps(int x, int y, double minePercentage);
         IHexMap GetHexMap();
         ISquareMap GetSquareMap();

ConsoleApp/Maps/IMineMap.cs

@@ -1,7 +1,13 @@
+using System.Collections.Generic;
+
 namespace ConsoleApp.Maps
 {
     public interface IMineMap
     {
         bool[,] Map { get; }
+        
+        int TotalBombs { get; }
+        bool GetCell(int x, int y);
+        List<Cell> PlacedMines { get; }
     }
 }

ConsoleApp/Maps/ISquareMap.cs

@@ -12,6 +12,9 @@ namespace ConsoleApp.Maps
         Cell GetCell(int x, int y);
         int Height { get; }
         int Width { get; }
-        List<Cell> GetRange(Cell centerCell, int radius);
+        List<Cell> GetRange(ICell centerCell, int radius);
+        List<Cell> GetNeighbors(ICell cell);
+        List<ICell> GetPassableNeighbors(ICell cell);
+        List<ICell> GetShortestPath(ICell start, ICell goal);
     }
 }

ConsoleApp/Maps/MapExtensions.cs

@@ -1,5 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using Example;
+
 namespace ConsoleApp.Maps
 {
+
     public static class MapExtensions
     {
         public static void Fill2DArray<T>(this T[,] arr, T value)
@@ -15,6 +22,5 @@ namespace ConsoleApp.Maps
                 }
             }
         }
-        
     }
 }

ConsoleApp/Maps/MapFactory.cs

@@ -10,7 +10,6 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
-        public int CellWidth { get; }
         
 
         
@@ -22,11 +21,17 @@ namespace ConsoleApp.Maps
 
         public void GenerateMaps(int x, int y, double minePercentage)
         {
-            Width = x;
+            //convert to cm
-            Height = y;
+            x *= 100;
-            _squareMap = new SquareMap(x, y);
+            y *= 100;
-            _hexMap = new HexMap(x, y);
+            //calculate number of cells on x and y axis
-            _mineMap = new MineMap(x, y, minePercentage);
+            var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
+            var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
+            Width = xCellCount;
+            Height = yCellCount;
+            _squareMap = new SquareMap(xCellCount, yCellCount);
+            _hexMap = new HexMap(xCellCount, yCellCount);
+            _mineMap = new MineMap(xCellCount, yCellCount, minePercentage);
         }
         public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
         public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
@@ -34,7 +39,6 @@ namespace ConsoleApp.Maps
 
         public MapFactory(IVehicle vehicle)
         {
-            CellWidth = vehicle.Width/2;
             _defaultHeight = 0;
             _defaultWidth = 0;
             Height = _defaultHeight;

ConsoleApp/Maps/MineMap.cs

@@ -1,5 +1,7 @@
 using System;
 using System.Collections.Generic;
+using System.IO;
+using HexCore;
 
 namespace ConsoleApp.Maps
 {
@@ -9,24 +11,40 @@ namespace ConsoleApp.Maps
         private int _x;
         private int _y;
         public bool[,] Map { get; }
+        public int TotalBombs { get; }
+        public List<Cell> PlacedMines { get; }
+
         public MineMap(int x, int y, double minePercentage)
         {
             _x = x;
             _y = y;
-            _mineCount = x*y*((int)minePercentage/100);
+            PlacedMines = new List<Cell>();
+            _mineCount = (int)(x*y*(minePercentage/100));
+            TotalBombs = _mineCount;
             Map = new bool[x, y];
             Map.Fill2DArray(false);
             PlaceMines();
+            
         }
+        public bool GetCell(int x, int y) => Map[x,y];
+
 
         private void PlaceMines()
         {
             var rand = new Random();
-            for (int i = 0; i < _mineCount; i++)
+            for (var i = 0; i < _mineCount; i++) 
+            {
+                var x = rand.Next(5,_x-5);
+                var y = rand.Next(5,_y-5);
+                if (Map[x, y] == true)
+                {
+                    i--;
+                }
+                else
                 {
-                var x = rand.Next(_x);
-                var y = rand.Next(_y);
                     Map[x, y] = true;
+                    PlacedMines.Add(new Cell(x,y));
+                }
             }
         }
     }

ConsoleApp/Maps/SquareMap.cs

@@ -1,5 +1,9 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Reflection.Metadata.Ecma335;
+using System.Threading;
+using HexCore;
 
 
 namespace ConsoleApp.Maps
@@ -19,30 +23,27 @@ namespace ConsoleApp.Maps
         /// <param name="y"></param>
         public SquareMap(int x, int y)
         {
-            //convert to cm
+  
-            x *= 100;
-            y *= 100;
-            //calculate number of cells on x and y axis
-            var xCellCount = (int)Math.Ceiling((decimal) (x) / 25);
-            var yCellCount = (int)Math.Ceiling((decimal) (y) / 25);
             
             //set Width and height Properties
-            Width = xCellCount-1;
+            Width = x-1;
-            Height = yCellCount-1;
+            Height = y-1;
 
             
             //Initialize Map
-            Map = new Cell[xCellCount, yCellCount];
+            Map = new Cell[x, y];
 
-            //set last cell;
+            
-            StartingCell = Map[0, 0];
+            for (int i = 0; i < x; i++)
-            for (int i = 0; i < xCellCount; i++)
             {
-                for (int j = 0; j < yCellCount; j++)
+                for (int j = 0; j < y; j++)
                 {
                     Map[i,j] = new Cell(i, j);
                 }
             }
+            
+            //set Starting cell;
+            StartingCell = GetCell(0,0);
         }
 
 
@@ -62,7 +63,12 @@ namespace ConsoleApp.Maps
             return possibles;
         }
         
-        public List<Cell> GetRange(Cell centerCell, int radius)
+        public List<ICell> GetShortestPath(ICell start, ICell goal)
+        {
+            return AstarSquareSearch.FindShortestPath(this, start, goal);
+        }
+
+        public List<Cell> GetRange(ICell centerCell, int radius)
         {
             var inRange = new List<Cell>();
             var cx = centerCell.X;
@@ -82,6 +88,32 @@ namespace ConsoleApp.Maps
             return inRange;
         }
 
+        public List<ICell> GetPassableNeighbors(ICell cell) => 
+            GetNeighbors(cell).Where(neighbor => !neighbor.Blocked).Cast<ICell>().ToList();
+        
+        
+        private static int ComputeHScore(ICell src, Cell dest)
+        {
+            return Math.Abs(dest.X - src.X) + Math.Abs(dest.Y - src.Y);
+        }
+        
+
+        public List<Cell> GetNeighbors(ICell cell)
+        {
+            var rlist = new List<Cell>();
+            var rowOperations = new int[] { -1, 0, 0, 1};
+            var colOperations = new int[] {0, -1, 1, 0};
+            for (var i = 0; i < 4; i++)
+            {
+                var curCell = GetCell(cell.X + rowOperations[i], cell.Y + colOperations[i]);
+                if (curCell != default)
+                {
+                    rlist.Add(curCell);
+                }
+            }
+            return rlist;
+        }
+
         private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
         {
             int topX, topY;
@@ -96,16 +128,21 @@ namespace ConsoleApp.Maps
         private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
         {
             int bottomX, bottomY;
-            if (cy - radius > 0) bottomY = 0;
+            if (cy - radius < 0) bottomY = 0;
             else
                 bottomY = cy - radius;
-            if (cx + radius < Width) bottomX = Width;
+            if (cx + radius > Width) bottomX = Width;
             else
                 bottomX = cx + radius;
             return Map[bottomX, bottomY];
         }
 
-        public Cell GetCell(int x, int y) => Map[x, y];
+        public Cell GetCell(int x, int y)
+        {
+            if (x > Width || y > Height || x < 0 || y < 0)
+                return default;
+            return Map[x, y];
+        }
 
     }
 }

ConsoleApp/Output/Data.txt

@@ -0,0 +1,14 @@
+General:
+	 Total Mines: 36
+Hex: 
+	 Total Moves: 687
+	 Bombs Found: 35
+	 Cleared Cell Count: 3591
+	 Uncleared Cell Count: 9
+	 Percentage Cleared: 99.75
+Square: 
+	 Total Moves: 1045
+	 Bombs Found: 34
+	 Cleared Cell Count: 3251
+	 Uncleared Cell Count: 349
+	 Percentage Cleared: 90.30555555555554

ConsoleApp/Output/HexDetectedMines.txt

@@ -0,0 +1,35 @@
+48 7
+47 13
+35 8
+12 8
+5 18
+31 14
+28 20
+36 14
+37 12
+42 18
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+26 40
+33 42
+50 42
+52 53
+45 48
+38 48
+36 51
+34 51
+29 54
+30 50
+27 54
+26 49
+12 49

ConsoleApp/Output/HexPath.txt

@@ -0,0 +1,687 @@
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+1 0
+2 0
+3 0
+4 0
+5 0
+6 0
+7 0
+8 0
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+28 57
+29 57
+30 57
+31 56
+32 56
+33 56
+34 56
+35 56
+36 56
+37 56
+38 56
+39 56
+40 56
+41 56
+42 56
+43 56
+44 56
+45 56
+46 56
+47 56
+48 56
+49 56
+50 56
+51 56
+52 56
+53 56
+54 56
+55 56
+56 56
+57 56
+58 56
+59 56

ConsoleApp/Output/Mines.txt

@@ -0,0 +1,36 @@
+30 50
+48 7
+16 39
+42 18
+47 13
+50 42
+52 53
+49 16
+36 14
+54 29
+6 22
+26 49
+28 20
+10 34
+27 54
+49 27
+35 8
+26 40
+38 48
+10 28
+12 8
+5 18
+42 23
+45 23
+42 29
+36 51
+37 12
+29 54
+34 51
+33 12
+45 48
+19 27
+12 49
+31 14
+33 42
+9 31

ConsoleApp/Output/SquareDetectedMines.txt

@@ -0,0 +1,34 @@
+48 7
+47 13
+49 16
+35 8
+12 8
+31 14
+28 20
+36 14
+42 18
+42 23
+42 29
+49 27
+54 29
+45 23
+6 22
+5 18
+9 31
+10 28
+10 34
+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/IReactivePathPlanner.cs

@@ -1,4 +1,5 @@
 using System.Collections.Generic;
+using ConsoleApp.Maps;
 using HexCore;
 
 namespace ConsoleApp.PathPlanners
@@ -6,5 +7,11 @@ namespace ConsoleApp.PathPlanners
     public interface IReactivePathPlanner
     {
         Queue<Coordinate2D> ReactiveHexPath { get; }
+        void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
+        
+        Queue<ICell> ReactiveSquarePath { get; }
+
+        void GenerateReactiveSquarePath(ISquareMap squareMap, Queue<ICell> optimalPath,
+            ICell vehicleCurrentSquareCell);
     }
 }

ConsoleApp/PathPlanners/PathPlanner.cs

@@ -11,49 +11,49 @@ namespace ConsoleApp.PathPlanners
     {
         public Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle)
         {
-            var path = new Queue<ICell>();
+            var currentPostion = vehicle.CurrentSquareCell;
-            var myCell = map.StartingCell;
+            var currentHeading = GlobalDirection.East;
             var finished = false;
-            var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
+            var path = new List<ICell>();
-            var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
-            var currentHeading = GlobalDirection.North;
             while (!finished)
             {
-                var availableMoves = map.PossibleMoves(myCell);
+                //Heading East
-                if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
+                if (currentHeading == GlobalDirection.East)
-                    myCell.Y != map.Height)
                 {
-                    path.Enqueue(map.GetCell(myCell.X, myCell.Y + 1));
+                    path.AddRange(
-                    myCell = map.GetCell(myCell.X, myCell.Y + 1);
+                        map.GetShortestPath(currentPostion, map.GetCell(map.Width - 1, currentPostion.Y)));
+                    currentPostion = new Cell(map.Width - 1, currentPostion.Y);
                 }
-                else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
+                //Heading West
+                else if (currentHeading == GlobalDirection.West)
                 {
-                    path.Enqueue(map.GetCell(myCell.X, myCell.Y - 1));
+                    path.AddRange(
-                    myCell = map.GetCell(myCell.X, myCell.Y - 1);
+                        map.GetShortestPath(currentPostion, map.GetCell(0, currentPostion.Y)));
+                    currentPostion = new Cell(0, currentPostion.Y);
                 }
-                else
+                //Check for finish
-                {
+                if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= map.Height)
-                    if (myCell.X + swathOffset >= map.Width)
                 {
                     finished = true;
+                    continue;
                 }
+                
+                //Move up X Axis
+                path.AddRange(
+                    map.GetShortestPath(
+                        currentPostion, 
+                        map.GetCell(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
-                    {
+                    currentHeading = GlobalDirection.East;
-                        for (int i = myCell.X; i < myCell.X + swathOffset; i++)
-                        {
-                            path.Enqueue(map.GetCell(i, myCell.Y));
-                        }
-                        myCell = map.GetCell(myCell.X+swathOffset, myCell.Y);
-                        if (currentHeading == GlobalDirection.North)
-                            currentHeading = GlobalDirection.South;
-                        else if (currentHeading == GlobalDirection.South)
-                            currentHeading = GlobalDirection.North;
-                    }
-                }
                 
             }
 
-            return path;
+
+            return new Queue<ICell>(path);
         }
 
         public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
@@ -64,16 +64,17 @@ namespace ConsoleApp.PathPlanners
             var path = new List<Coordinate2D>();
             while (!finished)
             {
+                //Heading East
                 if (currentHeading == GlobalDirection.East)
                 {
                     path.AddRange(hexMap.Graph.GetShortestPath(
                         currentPostion,
-                        new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
+                        new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType),
                         hexMap.DefaultMovement));
-                    currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
+                    currentPostion = new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType);
                 }
-                
+                //Heading West
-                else if(currentHeading == GlobalDirection.West)
+                else if (currentHeading == GlobalDirection.West)
                 {
                     path.AddRange(hexMap.Graph.GetShortestPath(
                         currentPostion,
@@ -83,36 +84,24 @@ namespace ConsoleApp.PathPlanners
                 
                 }
 
-                if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
+                //Check for finish
+                if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= hexMap.Height - 1)
                 {
                     finished = true;
                     break;
                 }
 
-                Coordinate2D tmpPosition;
+                //Move Up edges of map
-                    if(currentHeading == GlobalDirection.East) 
+                var tmpPosition = currentPostion;
-                        tmpPosition = new Coordinate3D(
+                var range = hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius * 2);
-                            currentPostion.To3D().X-1, 
+                for (var i = currentPostion.Y; i < currentPostion.Y + vehicle.DetectorRadius * 2; i++)
-                            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) 
+                    var newCoord = new Coordinate2D(currentPostion.X, i, hexMap.OffsetType);
-                        tmpPosition = new Coordinate3D(
+                    if (range.Contains(newCoord))
-                            tmpPosition.To3D().X-1, 
+                        tmpPosition = newCoord;
-                            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,
@@ -124,7 +113,9 @@ namespace ConsoleApp.PathPlanners
                     currentHeading = GlobalDirection.East;
                 
                 
+               
             }
+
             return new Queue<Coordinate2D>(path);
         }
     }

ConsoleApp/PathPlanners/ReactivePathPlanner.cs

@@ -1,20 +1,76 @@
 using System.Collections.Generic;
+using ConsoleApp.Maps;
 using HexCore;
 
 namespace ConsoleApp.PathPlanners
 {
     public class ReactivePathPlanner : IReactivePathPlanner
     {
-        public Queue<Coordinate2D> ReactiveHexPath { get; }
+        private Queue<Coordinate2D> _reactiveHexPath;
+        private Queue<ICell> _reactiveSquarePath;
+        public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
+        public Queue<ICell> ReactiveSquarePath => _reactiveSquarePath;
+
+        
 
         public ReactivePathPlanner()
         {
-            ReactiveHexPath = new Queue<Coordinate2D>();
+            _reactiveHexPath = new Queue<Coordinate2D>();
+            _reactiveSquarePath = new Queue<ICell>();
+
+        }
+        public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
+            Coordinate2D vehicleCurrentHexCell)
+        {
+            //Clean out any old path
+            _reactiveHexPath.Clear();
+            
+            //If the optimal path is empty well we are done, otherwise pop 1
+            if (!optimalPath.TryDequeue(out var convergentPoint))
+                return;
+
+            //Dequeue until the cell is not blocked
+            while (hexMap.Graph.IsCellBlocked(convergentPoint))
+            {
+                //if optimal path is empty were done and we can not clear around this position, otherwise
+                //lest pop another.
+                if (!optimalPath.TryDequeue(out convergentPoint))
+                    return;
             }
 
-        public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
+            var reactivePath = hexMap.Graph.GetShortestPath(vehicleCurrentHexCell, convergentPoint, hexMap.DefaultMovement);
+            foreach (var node in reactivePath)
             {
+                _reactiveHexPath.Enqueue(node);
+            }
+        }
 
+
+        public void GenerateReactiveSquarePath(ISquareMap squareMap, Queue<ICell> optimalPath,
+            ICell vehicleCurrentSquareCell)
+        {
+            //Clean out old path
+            _reactiveSquarePath.Clear();
+            
+            //If the optimal path is empty well we are done, otherwise pop 1
+            if (!optimalPath.TryDequeue(out ICell convergentPoint))
+                return;
+
+            //Dequeue until the cell is not blocked
+            while (squareMap.GetCell(convergentPoint.X, convergentPoint.Y).Blocked)
+            {
+                //if optimal path is empty were done and we can not clear around this position, otherwise
+                //lest pop another.
+                if (!optimalPath.TryDequeue(out convergentPoint))
+                    return;
+            }
+
+            var map = (SquareMap)squareMap;
+            var reactivePath = map.GetShortestPath(vehicleCurrentSquareCell, convergentPoint);
+            foreach (var node in reactivePath)
+            {
+                _reactiveSquarePath.Enqueue(node);
+            }
         }
     }
 }

ConsoleApp/Program.cs

@@ -1,4 +1,8 @@
 using System;
+using System.Diagnostics;
+using System.IO;
+using System.Reflection;
+using System.Threading;
 using ConsoleApp.Maps;
 
 namespace ConsoleApp
@@ -11,26 +15,22 @@ namespace ConsoleApp
         static void Main(string[] args)
         {
             _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
+            var simResults = _bootstrapper.Resolve<ISimulationResults>();
             _userConsole = new UserConsole();
             Initialization();
+            simResults.WriteResults();
+            GenerateImages();
             Console.WriteLine("Program Completed");
         }
 
+       
+
         private static void Initialization()
-        {
-            _userConsole.PrintStartMenu();
-            var input = UserConsole.GetUserInput();
-            if (input == "1")
         {
             var (x,y) = _userConsole.GetMapDimensions();
-                var minePercentage = UserConsole.GetMinePercentage();
+            var minePercentage = 1;
             RunSimulation(x, y, minePercentage);
-            }
+
-            else
-            {
-                UserConsole.PrintInvalidInput();
-                Initialization();
-            }
         }
 
         private static void RunSimulation(int x, int y, double minePercentage)
@@ -42,5 +42,25 @@ namespace ConsoleApp
             simRunner.Run();
         }
         
+        private static void GenerateImages()
+        {
+            var file = Path.Combine("./",Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"plotGraphs.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);
+            }
+        }
+
     }
 }

ConsoleApp/Sim/DetectionHead.cs

@@ -10,11 +10,20 @@ namespace ConsoleApp.Sim
             Graph graph,
             Coordinate2D centerCoordinate,
             int detectorRadius,
-            GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
+            int vehicleTurnRadius)
+        {
+            var detectorCells = graph.GetRange(centerCoordinate, detectorRadius);
+            // var vehicleCells = graph.GetRange(centerCoordinate, vehicleTurnRadius);
+            // foreach (var vehicleCell in vehicleCells)
+            // {
+            //     detectorCells.Remove(vehicleCell);
+            // }
+            return detectorCells;
+        }
 
         public static List<Cell> GetCoveredCells(
             ISquareMap squareMap,
             Cell centerCell,
-            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
+            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius * 2 - detectorRadius%2);
     }
 }

ConsoleApp/Sim/IVehicle.cs

@@ -1,4 +1,5 @@
 using ConsoleApp.Maps;
+using HexCore;
 
 namespace ConsoleApp.Sim
 {
@@ -6,11 +7,9 @@ namespace ConsoleApp.Sim
     {
         int Length { get; }
         int Width { get; }
-        int DetectorOffset { get;}
+        int TurnRadius { get; }
         int DetectorRadius { get;}
-        HexCore.Coordinate2D CurrentHexCell { get; set; }
+        Coordinate2D CurrentHexCell { get; set; }
-        Heading HexHeading { get; set; }
+        Cell CurrentSquareCell { get; set; }
-        Heading SquareHeading { get; set; }
-        ICell CurrentSquareCell { get; set; }
     }
 }

ConsoleApp/Sim/Vehicle.cs

@@ -1,3 +1,5 @@
+using System;
+using System.Collections.Generic;
 using ConsoleApp.Maps;
 
 namespace ConsoleApp.Sim
@@ -6,13 +8,10 @@ namespace ConsoleApp.Sim
     {
         public int Length { get; }
         public int Width { get; }
-
+        public int TurnRadius { get; }
-        public int DetectorOffset { get;}
         public int DetectorRadius { get;}
         public HexCore.Coordinate2D CurrentHexCell { get; set; }
-        public Heading HexHeading { get; set; }
+        public Cell CurrentSquareCell { get; set; }
-        public Heading SquareHeading { get; set; }
-        public ICell CurrentSquareCell { get; set; }
         
         
 
@@ -20,12 +19,17 @@ namespace ConsoleApp.Sim
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
             var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
-            Length = config.Length;
+            var length = config.Length;
-            Width = config.Width;
+            length *= 100;
-            DetectorRadius = config.DetectorRadius;
+            Length = (int)Math.Ceiling((decimal)length/ 25);
-            DetectorOffset = config.DetectorOffset;
+            var width = config.Width;
-            CurrentHexCell = default;
+            width *= 100;
-            CurrentSquareCell = default;
+            Width = (int)Math.Ceiling((decimal)width/ 25);
+            DetectorRadius = (int)Math.Floor(((decimal)config.DetectorRadius * 100)/25)/2;
+            TurnRadius = (int)Math.Ceiling(Math.Sqrt(Math.Pow(config.Length, 2) * Math.Pow(config.Width, 2))/2);
+            // if (DetectorRadius <= TurnRadius)
+            //     throw new ArgumentException("Detection radius must be larger than the vehicle turn radius");
+
         }
     }
 }

ConsoleApp/Sim/VehicleConfiguration.cs

@@ -5,6 +5,5 @@ namespace ConsoleApp.Sim
         public int Length { get; set; }
         public int Width { get; set; }
         public int DetectorRadius { get; set; }
-        public int DetectorOffset { get; set; }
     }
 }

ConsoleApp/Sim/VehicleConfiguration.json

@@ -1,6 +1,5 @@
 {
-  "Length": 3,
+  "Length": 1,
-  "Width": 2,
+  "Width": 1,
-  "DetectorRadius": 3,
+  "DetectorRadius": 2
-  "DetectorOffset": 2
 }

ConsoleApp/SimRunner.cs

@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
-using System.Threading;
+using System.Linq;
-using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
 using ConsoleApp.Sim;
@@ -14,46 +13,241 @@ namespace ConsoleApp
         private IMapFactory _mapFactory;
         private IVehicle _vehicle;
 
-        private int _cellWidth;
         private IPathPlanner _pathPlanner;
         private IMineMap _mineMap;
         private IReactivePathPlanner _reactivePathPlanner;
+        private HashSet<Coordinate2D> hexBombsFound = new HashSet<Coordinate2D>();
+        private ISimulationResults _simulationResults;
+        private HashSet<ICell> squareBombsFound = new HashSet<ICell>();
         
 
-        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
+
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner, ISimulationResults simulationResults)
         {
-           
-            _cellWidth = mapFactory.CellWidth;
             _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);}
 
         }
 
+        #region HexSimulation
+
         private void HexSimulation()
         {
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
             var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
-            var reactivePath = _reactivePathPlanner.ReactiveHexPath;
+            var finished = false;
+            var totalMoves = 0;
+            while (!finished)
+            {
+                totalMoves += 1;
+                _simulationResults.HexPath.Add(_vehicle.CurrentHexCell);
+
+                var detectionCells = DetectionHead.GetCoveredCells(hexMap.Graph, _vehicle.CurrentHexCell, _vehicle.DetectorRadius, _vehicle.TurnRadius);
+                //Check Cells for mine
+                var detection = CheckCells(detectionCells);
+                //mark as cleared
+                hexMap.Graph.SetCellsTerrainType(detectionCells, hexMap.ClearedTerrain);
+                //Handle any detections
+                if (detection)
+                {
+                    _reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
+                }
+                
+                //If the reactive Planner is not empty, empty it before the optimal.
+                if (_reactivePathPlanner.ReactiveHexPath.TryDequeue(out var next))
+                    _vehicle.CurrentHexCell = next;
+                //Else we will work off of the optimal path
+                else
+                {
+                    //If the optimal path is empty we are done otherwise pop.
+                    if (!optimalPath.TryDequeue(out var nextOptimal))
+                    {
+                        finished = true;
+                        continue;
+                    }
+
+                    if (hexMap.Graph.IsCellBlocked(nextOptimal))
+                    {
+                        _reactivePathPlanner.GenerateReactiveHexPath(hexMap, optimalPath, _vehicle.CurrentHexCell);
+                    }
+                    else
+                        _vehicle.CurrentHexCell = nextOptimal;
+                }
             }
             
             
+            //Debugging information
+            var (cleared, uncleared) = CoveredCells();
+            _simulationResults.HexClearedCells = cleared;
+            _simulationResults.HexUnClearedCells = uncleared;
+            _simulationResults.HexTotalMoves = totalMoves;
+            _simulationResults.HexBombsFound = hexBombsFound.Count;
+            _simulationResults.HexMappedBombs = hexBombsFound.ToList();
+            
+            foreach (var cell in hexMap.Graph.GetAllCells())
+            {
+                if(cell.TerrainType.Id == hexMap.ClearedTerrain.Id)
+                    _simulationResults.HexCoveredCells.Add(cell.Coordinate3.To2D(hexMap.OffsetType));
+            }
+        }
+
+        private (int, int) CoveredCells()
+        {
+            var cleared = 0;
+            var uncleared = 0;
+            var hexMap = _mapFactory.GetHexMap();
+            foreach (var cellState in hexMap.Graph.GetAllCells())
+            {
+                if (cellState.TerrainType.Id == hexMap.ClearedTerrain.Id)
+                    cleared++;
+                if (cellState.TerrainType.Id == hexMap.UnclearedTerrain.Id)
+                    uncleared++;
+            }
+
+            return (cleared, uncleared);
+        }
+
+
+        private bool CheckCells(List<Coordinate2D> detectionCells)
+        {
+            var found = false;
+            foreach (var cell in detectionCells.Where(cell => _mineMap.GetCell(cell.X, cell.Y)))
+            {
+                if (!hexBombsFound.Add(cell)) continue;
+                BlockCells(cell);
+                found = true;
+            }
+            return found;
+        }
+
+        private void BlockCells(Coordinate2D cell)
+        {
+            var hexMap = _mapFactory.GetHexMap();
+            var cellsToBlock = hexMap.Graph.GetRange(cell, _vehicle.Width / 2);
+            hexMap.Graph.BlockCells(cellsToBlock);
+            
+        }
+        #endregion
+
+        #region SquareSimulation
         private void SquareSimulation()
         {
             var squareMap = _mapFactory.GetSquareMap();
             _vehicle.CurrentSquareCell = squareMap.StartingCell;
             var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
+            var finished = false;
+            while (!finished)
+            {
+                _simulationResults.SquareTotalMoves++;
+                _simulationResults.SquarePath.Add(_vehicle.CurrentSquareCell);
+                var detector = squareMap.GetRange(_vehicle.CurrentSquareCell, _vehicle.DetectorRadius);
+                var detection = CheckForMines(detector);
+                //Mark cells as covered.
+                foreach (var cell in detector)
+                {
+                    cell.Coverage = Coverage.Covered;
+                }
+                if (detection)
+                    _reactivePathPlanner.GenerateReactiveSquarePath(squareMap, optimalPath, _vehicle.CurrentSquareCell);
+                if (_reactivePathPlanner.ReactiveSquarePath.TryDequeue(out var next))
+                {
+                    _vehicle.CurrentSquareCell = (Cell) next;
+                }
+                else
+                {
+                    if (!optimalPath.TryDequeue(out var current))
+                    {
+                        finished = true;
+                        continue;
+                    }
+
+                    if (current.Blocked)
+                    {
+                        _reactivePathPlanner.GenerateReactiveSquarePath(squareMap, optimalPath, current);
+                    }
+                    else
+                        _vehicle.CurrentSquareCell = (Cell) current;
+                }
+            }
+
+            //Debugging information
+            var (cleared, uncleared) = CoveredSquareCells();
+            _simulationResults.SquareCellsCleared = cleared;
+            _simulationResults.SquareCellsUncleared = uncleared;
+            _simulationResults.SquareBombsFound = squareBombsFound.Count;
+            _simulationResults.SquareMappedBombs = squareBombsFound.ToList();
+
+            foreach (var cell in squareMap.Map)
+            {
+                if (cell.Coverage == Coverage.Covered)
+                {
+                    _simulationResults.SquareCoveredCells.Add(cell);
+                }
             }
 
         }
+
+        private (int, int) CoveredSquareCells()
+        {
+            var cleared = 0;
+            var uncleared = 0;
+            var map = _mapFactory.GetSquareMap();
+            foreach (var cellState in map.Map)
+            {
+                switch (cellState.Coverage)
+                {
+                    case Coverage.Covered:
+                        cleared++;
+                        break;
+                    case Coverage.Uncovered:
+                        uncleared++;
+                        break;
+                    default:
+                        throw new ArgumentOutOfRangeException();
+                }
+            }
+
+            return (cleared, uncleared);
+        }
+
+        private bool CheckForMines(List<Cell> detector)
+        {
+            var found = false;
+            foreach (var cell in detector.Where(cell => _mineMap.GetCell(cell.X, cell.Y)))
+            {
+                if(!squareBombsFound.Add(cell)) continue;
+                found = true;
+                BlockSquareCells(cell);
+            }
+
+            return found;
+        }
+
+        private void BlockSquareCells(Cell cell)
+        {
+            var map = _mapFactory.GetSquareMap();
+            var cellsToBlock = map.GetRange(cell, _vehicle.DetectorRadius);
+            foreach (var blockCell in cellsToBlock)
+            {
+                blockCell.Blocked = true;
+            }
+        }
+
+        #endregion
+
+    }
 }

ConsoleApp/SimulationResults.cs

@@ -0,0 +1,138 @@
+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 List<ICell> SquarePath { get; set; }
+        public List<ICell> SquareMappedBombs { get; set; }
+        public int SquareCellsUncleared { get; set; }
+        public int SquareCellsCleared { get; set; }
+        public int SquareBombsFound { get; set; }
+        public int SquareTotalMoves { get; set; }
+        public List<ICell> SquareCoveredCells { get; set; }
+        public List<Coordinate2D> HexCoveredCells { 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;
+            SquarePath = new List<ICell>();
+            SquareMappedBombs = new List<ICell>();
+            SquareCellsUncleared = 0;
+            SquareCellsCleared = 0;
+            SquareBombsFound = 0;
+            SquareTotalMoves = 0;
+            SquareCoveredCells = new List<ICell>();
+            HexCoveredCells = new List<Coordinate2D>();
+
+        }
+
+        public void WriteResults()
+        {
+            WriteData();
+            WriteMines();
+            WritePaths();
+            WriteDetectedMines();
+            WriteCoveredCells();
+        }
+        
+
+        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($"\t Uncleared Cell Count: {HexUnClearedCells}");
+                tw.WriteLine($"\t Percentage Cleared: {(double)HexClearedCells/(HexClearedCells+HexUnClearedCells)*100}");
+                tw.WriteLine($"Square: ");
+                tw.WriteLine($"\t Total Moves: {SquareTotalMoves}");
+                tw.WriteLine($"\t Bombs Found: {SquareBombsFound}");
+                tw.WriteLine($"\t Cleared Cell Count: {SquareCellsCleared}");
+                tw.WriteLine($"\t Uncleared Cell Count: {SquareCellsUncleared}");
+                tw.WriteLine($"\t Percentage Cleared: {(double) SquareCellsCleared / (SquareCellsCleared + SquareCellsUncleared)*100}");
+
+            }
+        }
+
+       
+        
+        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($"{s.X} {s.Y}");
+            }
+        }
+
+        private void WriteCoveredCells()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoveredCells.txt"))
+            {
+                foreach (var s in HexCoveredCells)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoveredCells.txt"))
+            {
+                foreach (var s in SquareCoveredCells)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+        }
+        
+        private void WriteDetectedMines()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexDetectedMines.txt"))
+            {
+                foreach (var s in HexMappedBombs)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareDetectedMines.txt"))
+            {
+                foreach (var s in SquareMappedBombs)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }        
+        }
+
+        private void WritePaths()
+        {
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexPath.txt"))
+            {
+                foreach (var s in HexPath)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+            using(TextWriter tw = new StreamWriter("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquarePath.txt"))
+            {
+                foreach (var s in SquarePath)
+                    tw.WriteLine($"{s.X} {s.Y}");
+            }
+            
+        }
+    }
+}

ConsoleApp/UserConsole.cs

@@ -24,18 +24,18 @@ namespace ConsoleApp
 
         public (int width, int height) GetMapDimensions()
         {
-            Console.WriteLine($"Enter map height: ");
+            Console.WriteLine($"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

@@ -0,0 +1,122 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import matplotlib
+
+
+if __name__ == "__main__":
+    xc = []
+    yc = []
+    xm = []
+    ym = []
+    xf = []
+    yf = []
+    sxc = []
+    syc = []
+    sxm = []
+    sym = []
+    sxf = []
+    syf = []
+    
+    sccx = []
+    sccy = []
+    hccx = []
+    hccy = []
+
+    mx = []
+    my = []
+    
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareCoveredCells.txt") as c:
+        for line in c:
+            x, y = line.split()
+            sccx.append(int(x))
+            sccy.append(int(y))
+            
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt") as c:
+        for line in c:
+            x, y = line.split()
+            mx.append(int(x))
+            my.append(int(y))
+    
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquareDetectedMines.txt") as c:
+        for line in c:
+            x, y = line.split()
+            sxf.append(int(x))
+            syf.append(int(y))
+           
+                
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/HexCoveredCells.txt") as c:
+        for line in c:
+            x, y = line.split()
+            hccx.append(int(x))
+            hccy.append(int(y))
+    
+    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))
+            yc.append(int(y))
+            
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/SquarePath.txt") as c:
+        for line in c:
+            x, y = line.split()
+            sxc.append(int(x))
+            syc.append(int(y))
+                
+    with open("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.txt") as m:
+        for line in m:
+            x, y = line.split()
+            xm.append(int(x))
+            ym.append(int(y))
+
+    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))
+            yf.append(int(y))
+            
+    fig = plt.figure(1)
+    plt.plot(xc, yc, 'h', label='vehicle',  color='blue', linestyle='None')
+    plt.plot(xm, ym, 'h', label='all mines', color='red', linestyle='None')
+    plt.plot(xf, yf, 'h', label='detected mines', color='orange', linestyle='None')
+    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')
+    
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(2)
+    plt.plot(sxc, syc, 's', label='vehicle',  color='blue', linestyle='None')
+    plt.plot(sxm, sym, 's', label='all mines', color='red', linestyle='None')
+    plt.plot(sxf, syf, 's', label='detected mines', color='orange', linestyle='None')
+    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')
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(3)
+    plt.plot(hccx, hccy, 'h', label='covered cells', color='red', linestyle='None')
+    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')
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(4)
+    plt.plot(sccx, sccy, 's', label='covered cells', color='red', linestyle='None')
+    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')
+    plt.plot()
+    plt.close(fig)
+    
+    fig = plt.figure(5)
+    plt.plot(mx, my, 'o', label='mines', color='red', linestyle='None')
+    plt.title('Mine Map')
+    plt.legend(loc='lower left', fontsize='xx-small')
+    matplotlib.pyplot.savefig('/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Output/Mines.png')
+    plt.plot()
+    plt.close(fig)