Hex is done and working

Need to change planning algo for square to go right to left.

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

@@ -7,22 +7,28 @@
         <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">
-          <e p="HexCell.cs" t="Include" />
+          <e p="Cell.cs" t="Include" />
+          <e p="GlobalDirection.cs" t="Include" />
+          <e p="Heading.cs" t="Include" />
           <e p="HexMap.cs" t="Include" />
-          <e p="IHexCell.cs" t="Include" />
+          <e p="ICell.cs" t="Include" />
           <e p="IHexMap.cs" t="Include" />
           <e p="IMapFactory.cs" t="Include" />
-          <e p="ISquareCell.cs" t="Include" />
+          <e p="IMineMap.cs" t="Include" />
           <e p="ISquareMap.cs" t="Include" />
+          <e p="MapExtensions.cs" t="Include" />
           <e p="MapFactory.cs" t="Include" />
-          <e p="SquareCell.cs" t="Include" />
+          <e p="MineMap.cs" t="Include" />
           <e p="SquareMap.cs" t="Include" />
         </e>
-        <e p="Module.cs" t="Include" />
         <e p="obj" t="ExcludeRecursive">
           <e p="Debug" t="Include">
             <e p="netcoreapp3.1" t="Include">
@@ -30,14 +36,35 @@
             </e>
           </e>
         </e>
+        <e p="Output" t="Include">
+          <e p="Data.txt" t="Include" />
+          <e p="HexDetectedMines.txt" t="Include" />
+          <e p="HexPath.txt" t="Include" />
+          <e p="HexTest.png" t="Include" />
+        </e>
+        <e p="PathPlanners" t="Include">
+          <e p="IPathPlanner.cs" t="Include" />
+          <e p="IReactivePathPlanner.cs" t="Include" />
+          <e p="PathPlanner.cs" t="Include" />
+          <e p="ReactivePathPlanner.cs" t="Include" />
+        </e>
         <e p="Program.cs" t="Include" />
+        <e p="Sim" t="Include">
+          <e p="DetectionHead.cs" t="Include" />
+          <e p="IVehicle.cs" t="Include" />
+          <e p="Vehicle.cs" t="Include" />
+          <e p="VehicleConfiguration.cs" t="Include" />
+          <e p="VehicleConfiguration.json" t="Include" />
+        </e>
         <e p="SimRunner.cs" t="Include" />
+        <e p="SimulationResults.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
       </e>
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />
     </e>
-    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.2/extResources" t="IncludeRecursive" />
+    <e p="$APPLICATION_CONFIG_DIR$/consoles/ide" t="IncludeRecursive" />
-    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.2/resharper-host/local/Transient/Rider/v202/SolutionCaches/_RobotIntelFinal.-1349721189.00" t="ExcludeRecursive" />
+    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/extResources" t="IncludeRecursive" />
+    <e p="$USER_HOME$/Library/Caches/JetBrains/Rider2020.3/resharper-host/local/Transient/Rider/v203/SolutionCaches/_RobotIntelFinal.-1349721189.00" t="ExcludeRecursive" />
   </component>
 </project>

.idea/.idea.RobotIntelFinal/.idea/modules.xml

@@ -2,7 +2,7 @@
 <project version="4">
   <component name="ProjectModuleManager">
     <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/riderModule.iml" filepath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/riderModule.iml" />
+      <module fileurl="file://$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/riderModule.iml" filepath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/riderModule.iml" />
     </modules>
   </component>
 </project>

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

@@ -4,6 +4,9 @@
     <projectFile>Simulator/Simulator.csproj</projectFile>
     <projectFile>ConsoleApp/ConsoleApp.csproj</projectFile>
   </component>
+  <component name="AutoImportSettings">
+    <option name="autoReloadType" value="SELECTIVE" />
+  </component>
   <component name="BranchesTreeState">
     <expand>
       <path>
@@ -15,67 +18,134 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/ISimulationResults.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/SimulationResults.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.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/Bootstrapper.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Bootstrapper.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/ISimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ISimRunner.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/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/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/Output/DetectedMines.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/DetectedMines.txt" 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/SavedList.txt" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Output/SavedList.txt" 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/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.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" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
     <option name="LAST_RESOLUTION" value="IGNORE" />
   </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="JSON File" />
+      </list>
+    </option>
+  </component>
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
+  <component name="HighlightingSettingsPerFile">
+    <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="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/133/Thread.CoreCLR.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/46/ThrowHelper.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/39B/EqualityComparer.CoreCLR.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/11/Array.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/EB067793-5C3F-4219-AEF1-3AB117C20649/3A4/List.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/SourcesCache/7AFCB195-1BDF-4087-9F2D-5BFCFC407B2B/30/Where.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="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-AEF1-3AB117C20649/389/Comparer.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/3d/c367b191/Coordinate3D.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/14/12025305/MovementTypes.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/0b/0953c23b/GraphFactory.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="mock:///Dummy.cs" root0="SKIP_HIGHLIGHTING" />
+    <setting file="file://$APPLICATION_CONFIG_DIR$/resharper-host/DecompilerCache/decompiler/EE5CA5D4-EDEB-48AE-9C0D-FE354330FB77/84/4eb9c798/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="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/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/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" />
+  </component>
   <component name="IdeDocumentHistory">
-    <option name="CHANGED_PATHS">
+    <changedPaths>
-      <list>
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Heading.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Direction.cs" />
-        <option value="$PROJECT_DIR$/Simulator/CoreModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/IPathPlanner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" />
-        <option value="$PROJECT_DIR$/Simulator/SimulatorModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/GlobalDirection.cs" />
-        <option value="$PROJECT_DIR$/Simulator/NetworkInterfaceFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCoordinates.cs" />
-        <option value="$PROJECT_DIR$/Simulator/INetworkInterfaceFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
-        <option value="$PROJECT_DIR$/Simulator/NetworkInterface.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/NetworkInterfaceFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/INetworkInterfaceFactory.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/INetworkInterface.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
-        <option value="$PROJECT_DIR$/Simulator/Networking/NetworkInterface.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IUserConsole.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Module.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/Cell.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/MapFactory.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/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/IHexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IReactivePathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/IMapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Bootstrapper.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/ISimRunner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexCell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexCell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/Vehicle.cs" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareCell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/VehicleConfiguration.json" />
-        <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareCell.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Sim/DetectionHead.cs" />
-      </list>
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
-    </option>
+      <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" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true">
@@ -86,15 +156,20 @@
     <option name="showLibraryContents" value="true" />
   </component>
   <component name="PropertiesComponent">
+    <property name="DebuggerViewTab_PTCS_FirstProportionKey" value="0.3496007" />
+    <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="configurable.group.build" />
     <property name="vue.rearranger.settings.migration" value="true" />
   </component>
   <component name="RunManager" selected=".NET Project.ConsoleApp">
     <configuration name="ConsoleApp" type="DotNetProject" factoryName=".NET Project">
-      <option name="EXE_PATH" value="" />
+      <option name="EXE_PATH" value="$PROJECT_DIR$/ConsoleApp/bin/Debug/netcoreapp3.1/ConsoleApp.dll" />
       <option name="PROGRAM_PARAMETERS" value="" />
-      <option name="WORKING_DIRECTORY" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/ConsoleApp/bin/Debug/netcoreapp3.1" />
       <option name="PASS_PARENT_ENVS" value="1" />
       <option name="USE_EXTERNAL_CONSOLE" value="0" />
       <option name="USE_MONO" value="0" />
@@ -104,7 +179,7 @@
       <option name="PROJECT_ARGUMENTS_TRACKING" value="1" />
       <option name="PROJECT_WORKING_DIRECTORY_TRACKING" value="1" />
       <option name="PROJECT_KIND" value="DotNetCore" />
-      <option name="PROJECT_TFM" value="" />
+      <option name="PROJECT_TFM" value=".NETCoreApp,Version=v3.1" />
       <method v="2">
         <option name="Build" />
       </method>
@@ -127,6 +202,10 @@
         <option name="Build" />
       </method>
     </configuration>
+    <list>
+      <item itemvalue=".NET Project.ConsoleApp" />
+      <item itemvalue=".NET Project.Simulator" />
+    </list>
   </component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
@@ -137,6 +216,13 @@
       <option name="presentableId" value="Default" />
       <updated>1607286398679</updated>
       <workItem from="1607286402206" duration="6845000" />
+      <workItem from="1607640133651" duration="318000" />
+      <workItem from="1607640470920" duration="58000" />
+      <workItem from="1607640550443" duration="19992000" />
+      <workItem from="1607982179018" duration="634000" />
+      <workItem from="1607983288378" duration="86000" />
+      <workItem from="1607983862958" duration="7777000" />
+      <workItem from="1607993290571" duration="72449000" />
     </task>
     <servers />
   </component>
@@ -160,35 +246,34 @@
   <component name="VcsManagerConfiguration">
     <option name="CLEAR_INITIAL_COMMIT_MESSAGE" value="true" />
   </component>
-  <component name="WindowStateProjectService">
+  <component name="XDebuggerManager">
-    <state width="1158" height="582" key="GridCell.Tab.0.bottom" timestamp="1607636097456">
+    <breakpoint-manager>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+      <breakpoints>
-    </state>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-    <state width="1158" height="582" key="GridCell.Tab.0.bottom/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636097456" />
+          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
-    <state width="1158" height="582" key="GridCell.Tab.0.center" timestamp="1607636097453">
+          <line>34</line>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
-    </state>
+            <startOffsets>
-    <state width="1158" height="582" key="GridCell.Tab.0.center/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636097453" />
+              <option value="1527" />
-    <state width="1158" height="582" key="GridCell.Tab.0.left" timestamp="1607636097452">
+            </startOffsets>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+            <endOffsets>
-    </state>
+              <option value="1543" />
-    <state width="1158" height="582" key="GridCell.Tab.0.left/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636097452" />
+            </endOffsets>
-    <state width="1158" height="582" key="GridCell.Tab.0.right" timestamp="1607636097454">
+          </properties>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+          <option name="timeStamp" value="24" />
-    </state>
+        </line-breakpoint>
-    <state width="1158" height="582" key="GridCell.Tab.0.right/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636097454" />
+      </breakpoints>
-    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size" timestamp="1607287214952">
+    </breakpoint-manager>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+    <pin-to-top-manager>
-    </state>
+      <pinned-members>
-    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607286605974" />
+        <PinnedItemInfo parentTag="Frame#ConsoleApp.PathPlanners.PathPlanner.GenerateOptimalHexPath" memberName="path" />
-    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size/0.25.1440.798/2640.-757.1200.1895/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607287214952" />
+      </pinned-members>
-    <state x="1860" y="-144" key="RiderGenerateDialog" timestamp="1607636510472">
+    </pin-to-top-manager>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+    <watches-manager>
-    </state>
+      <configuration name="DotNetProject">
-    <state x="1860" y="-144" key="RiderGenerateDialog/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607636510472" />
+        <watch expression="new System.Collections.Generic.QueueDebugView&lt;HexCore.Coordinate2D&gt;(optimalPath).Items[0]" />
-    <state x="1703" y="-333" width="672" height="678" key="search.everywhere.popup" timestamp="1607633696072">
+        <watch expression="Math.Abs(nextOptimal.X - _vehicle.CurrentHexCell.X) &gt; 1 || Math.Abs(nextOptimal.Y - _vehicle.CurrentHexCell.Y) &gt; 1" language="C#" />
-      <screen x="1440" y="-782" width="1200" height="1920" />
+      </configuration>
-    </state>
+    </watches-manager>
-    <state x="1703" y="-333" width="672" height="678" key="search.everywhere.popup/0.0.1440.900/2640.-782.1200.1920/1440.-782.1200.1920@1440.-782.1200.1920" timestamp="1607633696072" />
   </component>
 </project>

ConsoleApp/ConsoleApp.csproj

@@ -5,8 +5,30 @@
         <TargetFramework>netcoreapp3.1</TargetFramework>
     </PropertyGroup>
 
+    <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+      <DebugType>full</DebugType>
+    </PropertyGroup>
+
+    <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+      <DebugType>full</DebugType>
+    </PropertyGroup>
+
     <ItemGroup>
       <PackageReference Include="DryIoc.dll" Version="4.5.2" />
+      <PackageReference Include="HexCore" Version="4.1.0" />
+    </ItemGroup>
+
+    <ItemGroup>
+      <None Update="Sim\VehicleConfiguration.json">
+        <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+      </None>
+      <None Update="HexPlot.py">
+        <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+      </None>
+    </ItemGroup>
+
+    <ItemGroup>
+      <Folder Include="Output" />
     </ItemGroup>
 
 </Project>

ConsoleApp/CoreModule.cs

@@ -1,17 +1,24 @@
-using System.Threading;
+using ConsoleApp.Maps;
-using ConsoleApp;
+using ConsoleApp.PathPlanners;
+using ConsoleApp.Sim;
 using DryIoc;
-using Module = ConsoleApp.Module;
 
-namespace Final
+namespace ConsoleApp
 {
-    public class CoreModule : Module
+    public class CoreModule : IModule
     {
-        public virtual void Register(IContainer container, ExecutionContext executionContext)
+        public virtual void Register(IContainer container)
         {
-            //container.Register<IUserConsole, UserConsole>(Reuse.Singleton);
+            container.Register<IMapFactory, MapFactory>(Reuse.Singleton);
+            container.Register<ISimRunner, SimRunner>(Reuse.Singleton);
+            container.Register<IVehicle, Vehicle>(Reuse.Singleton);
+            container.Register<IJsonDeserializor, JsonDeserializor>(Reuse.Singleton);
+            container.Register<IPathPlanner, PathPlanner>(Reuse.Singleton);
+            container.Register<IReactivePathPlanner, ReactivePathPlanner>(Reuse.Singleton);
+            container.Register<ISimulationResults, SimulationResults>(Reuse.Singleton);
         }
         
+
         public virtual void Resolve(IContainer container)
         {
             

ConsoleApp/HexPlot.py

@@ -0,0 +1,39 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import matplotlib
+
+
+if __name__ == "__main__":
+    xc = []
+    yc = []
+    xm = []
+    ym = []
+    xf = []
+    yf = []
+    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/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()
+    plt.plot(xc, yc)
+    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('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.close(fig)

ConsoleApp/IJsonDeserializor.cs

@@ -0,0 +1,7 @@
+namespace ConsoleApp
+{
+    public interface IJsonDeserializor
+    {
+        T DeserializeObject<T>(string filePath);
+    }
+}

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/JsonDeserializor.cs

@@ -0,0 +1,15 @@
+using System;
+using System.IO;
+using System.Text.Json;
+
+namespace ConsoleApp
+{
+    public class JsonDeserializor : IJsonDeserializor
+    {
+        public T DeserializeObject<T>(string filePath)
+        {
+            var jString = File.ReadAllText(filePath);
+            return JsonSerializer.Deserialize<T>(jString);
+        }
+    }
+}

ConsoleApp/Maps/Cell.cs

@@ -0,0 +1,25 @@
+using System;
+
+namespace ConsoleApp.Maps
+{
+    public enum Coverage
+    {
+        Uncoverd,
+        Covered
+    }
+    public struct Cell : ICell
+    {
+        public int X { get; }
+        public int Y { get; }
+        public Coverage Coverage { get; set; }
+        
+        public Cell(int x, int y)
+        {
+            X = x;
+            Y = y;
+            Coverage = Coverage.Uncoverd;
+        }
+
+        
+    }
+}

ConsoleApp/Maps/Direction.cs

@@ -1,7 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public enum Direction
-    {
-        Forward, Reverse
-    }
-}

ConsoleApp/Maps/GlobalDirection.cs

@@ -0,0 +1,14 @@
+namespace ConsoleApp.Maps
+{
+    public enum GlobalDirection
+    {
+        North,
+        South,
+        East,
+        West,
+        NorthEast,
+        SouthEast,
+        NorthWest,
+        SouthWest
+    }
+}

ConsoleApp/Maps/Heading.cs

@@ -0,0 +1,50 @@
+namespace ConsoleApp.Maps
+{
+    public class Oreientation
+    {
+        public static (int, int) Forward = (0, 1);
+        public static (int, int) Backward = (0, -1);
+        public static (int, int) Left = (-1, 0);
+        public static (int, int) Right = (1, 0);
+        public static (int, int) LeftBack = (-1, -1);
+        public static (int, int) LeftForward = (-1, 1);
+        public static (int, int) RightBack = (1, -1);
+        public static (int, int) RightForward = (1, 1);
+    }
+    public class Heading
+    {
+        private (int, int) _currentHeading;
+        public (int, int) CurrentHeading { get; }
+
+        
+        public void SetHeading((int,int)frontAxel, (int,int)backAxel)
+        {
+            var x = frontAxel.Item1 - backAxel.Item1;
+            var y = frontAxel.Item2 - backAxel.Item2;
+            //forward
+            if (x == 0 && y >= 1) _currentHeading = Oreientation.Forward;
+            //backward
+            if (x == 0 && y <= -1) _currentHeading = Oreientation.Backward;
+            //right
+            if (x >= 1 && y == 0) _currentHeading = Oreientation.Right;
+            //left
+            if (x <= -1 && y == 0) _currentHeading = Oreientation.Left;
+            //left, back
+            if (x <= -1 && y <= -1) _currentHeading = Oreientation.LeftBack;
+            //right, forward
+            if (x >= 1 && y >= 1) _currentHeading = Oreientation.RightForward;
+            //left, forward
+            if (x <= -1 && y >= 1) _currentHeading = Oreientation.LeftForward;
+            //right, back
+            if (x >= 1 && y <= -1) _currentHeading = Oreientation.RightBack;
+
+        }
+        public Heading()
+        {
+            _currentHeading = Oreientation.Forward;
+            CurrentHeading = _currentHeading;
+        }
+
+
+    }
+}

ConsoleApp/Maps/HexCell.cs

@@ -1,20 +0,0 @@
-using System;
-using System.Collections.Generic;
-
-namespace ConsoleApp.Maps
-{
-    public struct HexCell
-    {
-        public int Q { get; }
-        public int R { get; }
-        public int S { get; }
-        public HexCell(int q, int r, int s)
-        {
-            if (q + r + s != 0) throw new ArgumentException("q + r + s must be 0");
-            Q = q;
-            R = r;
-            S = s;
-        }
-  
-    }
-}

ConsoleApp/Maps/HexMap.cs

@@ -1,25 +1,58 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using HexCore;
+using ImTools;
 
 namespace ConsoleApp.Maps
 {
-    public class HexMap
+    public class HexMap : IHexMap
     {
-        private HexCell[,] Map { get; }
 
+        public int Width { get; }
+
+        public int Height { get; }
+
+        public Graph Graph { get; }
+        
+        public OffsetTypes OffsetType { get; }
+        public MovementType DefaultMovement { get; }
+        public TerrainType ClearedTerrain { get; }
+
+        public TerrainType UnclearedTerrain { get; }
+
+
+        /// <summary>
+        /// Generate Hex map with cells of 25cm X 25cm
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
         public HexMap(int x, int y)
         {
-            for (int r = 0; r < y; r++) {
+            //Set Offset Type for 2d -> 3d conversion
-                int r_offset = Convert.ToInt32(Math.Floor(Convert.ToDouble(r)/2));
+            OffsetType = OffsetTypes.OddRowsRight;
-                for (int q = -r_offset; q < x - r_offset; q++) {
-                    Map[r, q] = new HexCell(q, r, -q-r);
-                }
-            }
-        }
 
-        public List<HexCell> PossibleMoves(HexCell fromCell, Direction direction, Double orientation)
+            Height = y;
+            Width = x;
+            
+            UnclearedTerrain = new TerrainType(1, "uncleared");
+            ClearedTerrain = new TerrainType(2, "cleared");
+            
+            DefaultMovement = new MovementType(1, "default");
+            var movementTypes = new MovementTypes(
+                new ITerrainType[] { UnclearedTerrain, ClearedTerrain }, 
+                new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
                 {
-            
+                    [DefaultMovement] = new Dictionary<ITerrainType, int>
+                    {
+                        [UnclearedTerrain] = 1,
+                        [ClearedTerrain] = 2
                     }
+                }
+            );
+            Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, UnclearedTerrain);
+        }
+
+
     }
 }

ConsoleApp/Maps/ICell.cs

@@ -0,0 +1,9 @@
+namespace ConsoleApp.Maps
+{
+    public interface ICell
+    {
+        int X { get; }
+        int Y { get; }
+        Coverage Coverage { get; set; }
+    }
+}

ConsoleApp/Maps/IHexCell.cs

@@ -1,7 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public interface IHexCell
-    {
-        
-    }
-}

ConsoleApp/Maps/IHexMap.cs

@@ -1,7 +1,15 @@
+using HexCore;
+
 namespace ConsoleApp.Maps
 {
     public interface IHexMap
     {
-        
+        Graph Graph { get; }
+        OffsetTypes OffsetType { get; }
+        int Width { get; }
+        int Height { get; }
+        MovementType DefaultMovement { get; }
+        public TerrainType ClearedTerrain { get; }
+        public TerrainType UnclearedTerrain { get; }
     }
 }

ConsoleApp/Maps/IMapFactory.cs

@@ -1,3 +1,4 @@
+using System.Collections.Generic;
 using System.Dynamic;
 
 namespace ConsoleApp.Maps
@@ -6,7 +7,9 @@ namespace ConsoleApp.Maps
     {
         int Height { get; }
         int Width { get; }
-        SquareMap SquareMap { get; }
+        void GenerateMaps(int x, int y, double minePercentage);
-        void GenerateMaps(int x, int y);
+        IHexMap GetHexMap();
+        ISquareMap GetSquareMap();
+        IMineMap GetMineMap();
     }
 }

ConsoleApp/Maps/IMineMap.cs

@@ -0,0 +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/ISquareCell.cs

@@ -1,7 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public interface ISquareCell
-    {
-        
-    }
-}

ConsoleApp/Maps/ISquareMap.cs

@@ -1,7 +1,17 @@
+using System.Collections.Generic;
+using HexCore;
+
 namespace ConsoleApp.Maps
 {
     public interface ISquareMap
     {
-        
+        Cell[,] Map { get; }
+        Cell StartingCell { get; }
+        Cell LastCell { get; }
+        List<GlobalDirection> PossibleMoves(ICell currentCell);
+        Cell GetCell(int x, int y);
+        int Height { get; }
+        int Width { get; }
+        List<Cell> GetRange(Cell centerCell, int radius);
     }
 }

ConsoleApp/Maps/MapExtensions.cs

@@ -0,0 +1,19 @@
+namespace ConsoleApp.Maps
+{
+    public static class MapExtensions
+    {
+        public static void Fill2DArray<T>(this T[,] arr, T value)
+        {
+            int numRows = arr.GetLength(0);
+            int numCols = arr.GetLength(1);
+
+            for (int i = 0; i < numRows; ++i)
+            {
+                for (int j = 0; j < numCols; ++j)
+                {
+                    arr[i, j] = value;
+                }
+            }
+        }
+    }
+}

ConsoleApp/Maps/MapFactory.cs

@@ -1,3 +1,7 @@
+using System;
+using System.Collections.Generic;
+using ConsoleApp.Sim;
+
 namespace ConsoleApp.Maps
 {
     public class MapFactory : IMapFactory
@@ -6,23 +10,41 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
-        public SquareMap SquareMap { get; }
-        public HexMap HexMap { get; }
         
 
-        public void GenerateMaps(int x, int y)
+        
+        private ISquareMap _squareMap;
+
+        private IHexMap _hexMap;
+        
+        private IMineMap _mineMap;
+
+        public void GenerateMaps(int x, int y, double minePercentage)
         {
-            Width = x;
+            //convert to cm
-            Height = y;
+            x *= 100;
-            throw new System.NotImplementedException();
+            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);
+            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");
+        public IMineMap GetMineMap() => _mineMap ?? throw new NullReferenceException("mine map not initialized");
 
-        public MapFactory()
+        public MapFactory(IVehicle vehicle)
         {
             _defaultHeight = 0;
             _defaultWidth = 0;
             Height = _defaultHeight;
             Width = _defaultWidth;
+            _hexMap = default;
+            _squareMap = default;
         }
         
     }

ConsoleApp/Maps/MineMap.cs

@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using HexCore;
+
+namespace ConsoleApp.Maps
+{
+    public class MineMap : IMineMap
+    {
+        private int _mineCount;
+        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;
+            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 (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
+                {
+                    Map[x, y] = true;
+                    PlacedMines.Add(new Cell(x,y));
+                }
+            }
+        }
+    }
+}

ConsoleApp/Maps/SquareCell.cs

@@ -1,7 +0,0 @@
-namespace ConsoleApp.Maps
-{
-    public class SquareCell
-    {
-        
-    }
-}

ConsoleApp/Maps/SquareMap.cs

@@ -1,7 +1,106 @@
+using System;
+using System.Collections.Generic;
+
+
 namespace ConsoleApp.Maps
 {
-    public class SquareMap
+    public class SquareMap : ISquareMap
     {
+        public Cell[,] Map { get;}
+        public Cell StartingCell { get; }
+        public Cell LastCell { get; }
+        public int Height { get; }
+        public int Width { get; }
+
+        /// <summary>
+        /// Returns a map with square cells
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        public SquareMap(int x, int y)
+        {
+  
+            
+            //set Width and height Properties
+            Width = x-1;
+            Height = y-1;
+
+            
+            //Initialize Map
+            Map = new Cell[x, y];
+
+            //set last cell;
+            StartingCell = Map[0, 0];
+            for (int i = 0; i < x; i++)
+            {
+                for (int j = 0; j < y; j++)
+                {
+                    Map[i,j] = new Cell(i, j);
+                }
+            }
+        }
+
+
+        public List<GlobalDirection> PossibleMoves(ICell currentCell)
+        {
+            
+            var possibles = new List<GlobalDirection>();
+            if (currentCell.X != 0)
+                possibles.Add(GlobalDirection.West);
+            if (currentCell.X != Width)
+                possibles.Add(GlobalDirection.East);
+            if (currentCell.Y != Height)
+                possibles.Add(GlobalDirection.North);
+            if (currentCell.Y != 0)
+                possibles.Add(GlobalDirection.South);
+
+            return possibles;
+        }
+
+        public List<Cell> GetRange(Cell centerCell, int radius)
+        {
+            var inRange = new List<Cell>();
+            var cx = centerCell.X;
+            var cy = centerCell.Y;
+            var topLeft = GetTopCellInBoundingBox(cx, cy, radius);
+            var bottomRight = GetBottomCellInBoundingBox(cx, cy, radius);
+            for (var i = topLeft.X; i < bottomRight.X; i++)
+            {
+                for (var j = bottomRight.Y; j < topLeft.Y; j++)
+                {
+                    if (Math.Pow(i - cx, 2) + Math.Pow(j - cy, 2) < Math.Pow(radius,2))
+                    {
+                        inRange.Add(Map[i,j]);
+                    }
+                }
+            }
+            return inRange;
+        }
+
+        private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
+        {
+            int topX, topY;
+            if (cy + radius > Height) topY = Height;
+            else
+                topY = cy + radius;
+            if (cx - radius < 0) topX = 0;
+            else
+                topX = cx - radius;
+            return Map[topX, topY];
+        }
+        private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
+        {
+            int bottomX, bottomY;
+            if (cy - radius > 0) bottomY = 0;
+            else
+                bottomY = cy - radius;
+            if (cx + radius < Width) bottomX = Width;
+            else
+                bottomX = cx + radius;
+            return Map[bottomX, bottomY];
+        }
+
+        public Cell GetCell(int x, int y) => Map[x, y];
 
     }
 }

ConsoleApp/Module.cs

@@ -1,21 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Collections.Generic;
-
-using DryIoc;
-
-namespace ConsoleApp
-{
-    public abstract class Module : IModule
-    {
-        public virtual void Register(IContainer container)
-        {
-        }
-
-        public virtual void Resolve(IContainer container)
-        {
-        }
-    }
-}

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/HexPath.txt

@@ -0,0 +1,927 @@
+0 0
+1 0
+2 0
+3 0
+4 0
+5 0
+6 0
+7 0
+8 0
+9 0
+10 0
+11 0
+12 0
+13 0
+14 0
+15 0
+16 0
+17 0
+18 0
+19 0
+20 0
+21 0
+22 0
+23 0
+24 0
+25 0
+26 0
+27 0
+28 0
+29 0
+30 0
+31 0
+32 0
+33 0
+34 0
+35 0
+36 0
+37 0
+38 0
+39 0
+40 0
+41 0
+42 0
+43 0
+44 0
+45 0
+46 0
+47 0
+47 1
+47 2
+47 3
+46 3
+45 3
+44 3
+43 3
+42 3
+41 3
+40 3
+39 3
+38 3
+37 3
+36 3
+35 3
+34 3
+33 3
+32 3
+31 3
+30 3
+29 3
+28 3
+27 3
+26 3
+25 3
+24 3
+23 3
+22 3
+21 3
+20 3
+19 3
+18 3
+17 3
+16 3
+15 3
+14 3
+13 3
+12 3
+11 3
+10 3
+9 3
+8 3
+7 3
+6 3
+5 3
+4 3
+3 3
+2 3
+1 3
+0 3
+1 4
+0 5
+0 6
+1 6
+2 6
+3 6
+4 6
+5 6
+6 6
+7 6
+6 5
+7 4
+8 4
+9 4
+10 4
+10 5
+11 6
+12 6
+13 6
+14 6
+15 6
+16 6
+17 6
+18 6
+19 6
+20 6
+21 6
+20 5
+21 4
+22 4
+23 4
+24 4
+24 5
+25 6
+26 6
+27 6
+28 6
+29 6
+30 6
+31 6
+32 6
+33 6
+34 6
+35 6
+36 6
+37 6
+38 6
+39 6
+40 6
+41 6
+42 6
+43 6
+44 6
+45 6
+46 6
+47 6
+47 7
+47 8
+47 9
+46 9
+45 9
+44 9
+43 9
+42 9
+41 9
+40 9
+39 9
+38 9
+37 9
+36 9
+35 9
+34 9
+33 9
+32 9
+31 9
+30 9
+29 9
+28 9
+27 9
+27 8
+26 8
+25 8
+24 9
+24 9
+24 10
+23 10
+23 11
+23 12
+22 12
+21 12
+20 12
+19 11
+19 10
+18 9
+17 9
+16 9
+15 9
+14 9
+13 9
+12 9
+12 9
+13 10
+12 11
+12 12
+13 12
+13 13
+13 14
+12 15
+12 16
+11 16
+10 16
+9 16
+8 15
+8 14
+7 13
+7 12
+6 11
+6 10
+5 9
+4 9
+3 9
+2 9
+1 9
+0 9
+1 10
+0 11
+0 12
+1 12
+2 12
+3 12
+4 12
+5 12
+6 12
+7 12
+8 12
+8 12
+7 13
+8 14
+8 15
+9 16
+10 16
+11 16
+12 16
+12 15
+13 14
+13 13
+13 12
+14 12
+15 12
+16 12
+17 12
+18 12
+19 12
+20 12
+21 12
+22 12
+22 12
+21 13
+21 14
+20 13
+19 13
+19 14
+18 15
+18 16
+18 17
+19 18
+19 19
+20 19
+21 19
+22 19
+23 18
+23 17
+23 18
+23 19
+24 19
+25 19
+26 19
+27 18
+27 17
+28 16
+28 15
+29 14
+29 13
+30 12
+31 12
+32 12
+33 12
+34 12
+35 12
+36 12
+37 12
+38 12
+39 12
+40 12
+41 12
+42 12
+43 12
+44 12
+45 12
+46 12
+47 12
+47 13
+47 14
+47 15
+46 15
+45 15
+44 15
+43 15
+42 15
+41 15
+41 14
+40 14
+39 14
+38 15
+37 15
+36 15
+35 15
+34 15
+33 15
+32 15
+31 15
+30 15
+29 15
+28 15
+27 15
+27 15
+28 16
+27 17
+27 18
+26 19
+25 19
+24 19
+23 19
+22 19
+21 19
+20 19
+19 19
+19 18
+18 17
+18 16
+18 15
+17 15
+16 15
+15 15
+14 15
+13 15
+12 15
+12 15
+12 16
+11 16
+10 16
+9 16
+8 15
+7 15
+6 15
+5 15
+4 15
+3 15
+2 15
+1 15
+0 15
+1 16
+0 17
+0 18
+1 18
+2 18
+3 18
+4 18
+5 18
+6 18
+5 17
+6 16
+7 16
+8 16
+9 16
+9 17
+10 16
+11 16
+12 16
+12 17
+13 18
+14 18
+15 18
+16 18
+17 18
+18 18
+19 18
+19 18
+19 19
+20 19
+21 19
+22 19
+23 18
+23 18
+23 19
+24 19
+25 19
+26 19
+27 18
+28 18
+29 18
+30 18
+31 18
+32 18
+33 18
+34 18
+35 18
+36 18
+37 18
+38 18
+38 18
+38 19
+39 20
+40 20
+41 20
+42 20
+42 19
+43 18
+44 18
+45 18
+46 18
+47 18
+47 19
+47 20
+47 21
+46 21
+45 21
+44 21
+43 21
+42 21
+41 21
+40 21
+39 21
+38 21
+37 21
+36 21
+36 20
+35 20
+34 20
+33 21
+32 21
+31 21
+30 21
+29 21
+28 21
+27 21
+26 21
+25 21
+24 21
+23 21
+22 21
+21 21
+20 21
+19 21
+18 21
+17 21
+16 21
+15 21
+14 21
+13 21
+12 21
+12 21
+12 22
+11 22
+10 22
+9 22
+8 22
+7 22
+6 22
+5 21
+4 21
+3 21
+2 21
+1 21
+0 21
+1 22
+0 23
+0 24
+1 24
+2 24
+3 24
+4 24
+5 24
+6 24
+7 24
+6 23
+7 22
+8 22
+9 22
+10 22
+10 23
+11 24
+12 24
+13 24
+14 24
+15 24
+16 24
+17 24
+18 24
+19 24
+20 24
+21 24
+22 24
+23 24
+24 24
+25 24
+26 24
+27 24
+28 24
+29 24
+30 24
+31 24
+32 24
+31 24
+30 25
+30 26
+30 27
+31 28
+31 29
+32 29
+33 29
+34 29
+35 28
+35 27
+36 26
+37 26
+37 25
+38 24
+39 24
+40 24
+41 24
+42 24
+43 24
+44 24
+45 24
+46 24
+47 24
+47 25
+47 26
+47 27
+46 27
+45 27
+44 27
+43 27
+42 27
+41 27
+40 27
+39 27
+38 27
+37 27
+36 27
+35 27
+35 27
+35 28
+34 29
+33 29
+32 29
+31 29
+31 28
+30 27
+29 27
+28 27
+27 27
+26 27
+25 27
+24 27
+23 27
+22 27
+21 27
+20 27
+19 27
+18 27
+17 27
+16 27
+15 27
+14 27
+13 27
+12 27
+11 27
+12 27
+13 28
+12 29
+12 30
+11 31
+10 31
+9 31
+8 31
+8 30
+7 29
+7 28
+6 27
+5 27
+4 27
+3 27
+2 27
+1 27
+0 27
+1 28
+0 29
+0 30
+1 30
+2 30
+3 30
+4 30
+5 30
+5 29
+6 29
+7 29
+8 30
+8 30
+8 31
+9 31
+10 31
+11 31
+12 30
+13 30
+14 30
+15 30
+16 30
+17 30
+18 30
+18 30
+17 31
+18 32
+18 33
+19 33
+20 33
+21 33
+22 32
+22 31
+23 30
+24 30
+25 30
+26 30
+27 30
+28 30
+29 30
+30 30
+31 30
+32 30
+33 30
+34 30
+35 30
+36 30
+37 30
+38 30
+39 30
+40 30
+41 30
+42 30
+43 30
+44 30
+45 30
+46 30
+47 30
+47 31
+47 32
+47 33
+46 33
+45 33
+44 33
+43 33
+42 33
+41 33
+40 33
+39 33
+40 32
+39 31
+38 31
+37 31
+36 31
+36 32
+35 33
+34 33
+33 33
+32 33
+31 33
+30 33
+29 33
+28 33
+27 33
+26 33
+25 33
+24 33
+23 33
+22 33
+21 33
+20 33
+19 33
+18 33
+17 33
+16 33
+15 33
+14 33
+13 33
+12 33
+11 33
+10 33
+9 33
+8 33
+8 33
+8 34
+7 35
+6 35
+5 35
+4 35
+4 34
+3 33
+2 33
+1 33
+0 33
+1 34
+0 35
+0 36
+1 36
+2 36
+3 36
+4 36
+5 36
+6 36
+7 36
+8 36
+9 36
+10 36
+11 36
+12 36
+13 36
+14 36
+15 36
+16 36
+17 36
+18 36
+18 35
+19 35
+19 34
+19 33
+20 33
+21 33
+22 33
+23 34
+23 35
+24 36
+25 36
+26 36
+27 36
+28 36
+29 36
+29 35
+30 35
+31 35
+32 36
+33 36
+34 36
+35 36
+36 36
+36 36
+36 37
+37 37
+38 37
+39 37
+40 36
+41 36
+42 36
+43 36
+44 36
+45 36
+46 36
+47 36
+47 37
+47 38
+47 39
+46 39
+45 39
+44 39
+43 39
+42 39
+41 39
+40 39
+39 39
+38 39
+38 39
+38 39
+38 40
+37 41
+37 42
+36 42
+35 42
+34 42
+33 41
+33 40
+32 39
+32 39
+32 40
+31 41
+30 41
+29 41
+28 41
+28 40
+27 39
+26 39
+25 39
+24 39
+23 39
+22 39
+21 39
+21 39
+21 40
+20 41
+19 41
+18 41
+17 41
+17 40
+16 39
+15 39
+14 39
+13 39
+12 39
+11 39
+10 39
+9 39
+8 39
+7 39
+6 39
+5 39
+4 39
+3 39
+2 39
+1 39
+0 39
+1 40
+0 41
+0 42
+1 42
+2 42
+3 42
+4 42
+5 42
+6 42
+7 42
+8 42
+9 42
+10 42
+11 42
+12 42
+13 42
+14 42
+15 42
+16 42
+17 42
+18 42
+19 42
+20 42
+21 42
+22 42
+23 42
+24 42
+25 42
+26 42
+27 42
+28 42
+29 42
+30 42
+31 42
+32 42
+33 42
+34 42
+35 42
+36 42
+37 42
+38 42
+39 42
+40 42
+41 42
+42 42
+43 42
+44 42
+45 42
+46 42
+47 42
+47 43
+47 44
+47 45
+46 45
+45 45
+44 45
+43 45
+42 45
+41 45
+40 45
+39 45
+38 45
+37 45
+36 45
+35 45
+34 45
+33 45
+32 45
+31 45
+30 45
+29 45
+28 45
+27 45
+26 45
+25 45
+24 45
+23 45
+22 45
+21 45
+20 45
+19 45
+18 45
+17 45
+16 45
+15 45
+14 45
+13 45
+12 45
+11 45
+10 45
+9 45
+8 45
+7 45
+6 45
+5 45
+4 45
+3 45
+2 45
+1 45
+0 45

ConsoleApp/PathPlanners/IPathPlanner.cs

@@ -0,0 +1,14 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using ConsoleApp.Sim;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public interface IPathPlanner
+    {
+        Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
+        Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
+    }
+    
+}

ConsoleApp/PathPlanners/IReactivePathPlanner.cs

@@ -0,0 +1,12 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public interface IReactivePathPlanner
+    {
+        Queue<Coordinate2D> ReactiveHexPath { get; }
+        void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
+    }
+}

ConsoleApp/PathPlanners/PathPlanner.cs

@@ -0,0 +1,122 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using ConsoleApp.Maps;
+using ConsoleApp.Sim;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public class PathPlanner : IPathPlanner
+    {
+        public Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle)
+        {
+            var path = new Queue<ICell>();
+            var myCell = map.StartingCell;
+            var finished = false;
+            var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
+            var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
+            var currentHeading = GlobalDirection.North;
+            while (!finished)
+            {
+                var availableMoves = map.PossibleMoves(myCell);
+                if (availableMoves.Contains(GlobalDirection.North) && currentHeading == GlobalDirection.North &&
+                    myCell.Y != map.Height)
+                {
+                    path.Enqueue(map.GetCell(myCell.X, myCell.Y + 1));
+                    myCell = map.GetCell(myCell.X, myCell.Y + 1);
+                }
+                else if (availableMoves.Contains(GlobalDirection.South) && currentHeading == GlobalDirection.South && myCell.Y != 0)
+                {
+                    path.Enqueue(map.GetCell(myCell.X, myCell.Y - 1));
+                    myCell = map.GetCell(myCell.X, myCell.Y - 1);
+                }
+                else
+                {
+                    if (myCell.X + swathOffset >= map.Width)
+                    {
+                        finished = true;
+                    }
+                    else
+                    {
+                        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;
+        }
+
+        public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
+        {
+            var currentPostion = vehicle.CurrentHexCell;
+            var currentHeading = GlobalDirection.East;
+            var finished = false;
+            var path = new List<Coordinate2D>();
+            while (!finished)
+            {
+                //Heading East
+                if (currentHeading == GlobalDirection.East)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType);
+                }
+                //Heading West
+                else if (currentHeading == GlobalDirection.West)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType);
+                
+                }
+
+                //Check for finish
+                if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= hexMap.Height - 1)
+                {
+                    finished = true;
+                    break;
+                }
+
+                //Move Up edges of map
+                var tmpPosition = currentPostion;
+                var range = hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius * 2);
+                for (var i = currentPostion.Y; i < currentPostion.Y + vehicle.DetectorRadius * 2; i++)
+                {
+                    var newCoord = new Coordinate2D(currentPostion.X, i, hexMap.OffsetType);
+                    if (range.Contains(newCoord))
+                        tmpPosition = newCoord;
+                   
+                }
+                
+                path.AddRange(hexMap.Graph.GetShortestPath(
+                    currentPostion,
+                    tmpPosition,
+                    hexMap.DefaultMovement));
+                currentPostion = tmpPosition;
+                if (currentHeading == GlobalDirection.East)
+                    currentHeading = GlobalDirection.West;
+                else
+                    currentHeading = GlobalDirection.East;
+                
+                
+               
+            }
+
+            return new Queue<Coordinate2D>(path);
+        }
+    }
+}

ConsoleApp/PathPlanners/ReactivePathPlanner.cs

@@ -0,0 +1,44 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public class ReactivePathPlanner : IReactivePathPlanner
+    {
+        private Queue<Coordinate2D> _reactiveHexPath;
+        public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
+        
+
+        public ReactivePathPlanner()
+        {
+            _reactiveHexPath = new Queue<Coordinate2D>();
+        }
+        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;
+            }
+
+            var reactivePath = hexMap.Graph.GetShortestPath(vehicleCurrentHexCell, convergentPoint, hexMap.DefaultMovement);
+            foreach (var node in reactivePath)
+            {
+                _reactiveHexPath.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
@@ -10,33 +14,39 @@ namespace ConsoleApp
 
         static void Main(string[] args)
         {
-            _bootstrapper = new BootStrapper();
+            _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
+            var simResults = _bootstrapper.Resolve<ISimulationResults>();
             _userConsole = new UserConsole();
-            StartSimulation();
+            Initialization();
+            simResults.WriteResults();
+            Console.WriteLine("Program Completed");
         }
 
-        private static void StartSimulation()
+       
+
+        private static void Initialization()
         {
             _userConsole.PrintStartMenu();
-            var input = _userConsole.GetUserInput();
+            var input = UserConsole.GetUserInput();
             if (input == "1")
             {
                 var (x,y) = _userConsole.GetMapDimensions();
-                RunSimulation(x, y);
+                var minePercentage = UserConsole.GetMinePercentage();
+                RunSimulation(x, y, minePercentage);
             }
             else
             {
-                _userConsole.PrintInvalidInput();
+                UserConsole.PrintInvalidInput();
-                StartSimulation();
+                Initialization();
             }
         }
 
-        private static void RunSimulation(int x,int y)
+        private static void RunSimulation(int x, int y, double minePercentage)
         {
-            var simRunner = _bootstrapper.Resolve<ISimRunner>();
             var mapFactory = _bootstrapper.Resolve<IMapFactory>();
+            var simRunner = _bootstrapper.Resolve<ISimRunner>();
             
-            mapFactory.GenerateMaps(x, y);
+            mapFactory.GenerateMaps(x, y, minePercentage);
             simRunner.Run();
         }
 

ConsoleApp/Sim/DetectionHead.cs

@@ -0,0 +1,29 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp.Sim
+{
+    public static class DetectionHead
+    {
+        public static List<Coordinate2D> GetCoveredCells(
+            Graph graph,
+            Coordinate2D centerCoordinate,
+            int 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);
+    }
+}

ConsoleApp/Sim/IVehicle.cs

@@ -0,0 +1,15 @@
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp.Sim
+{
+    public interface IVehicle
+    {
+        int Length { get; }
+        int Width { get; }
+        int TurnRadius { get; }
+        int DetectorRadius { get;}
+        Coordinate2D CurrentHexCell { get; set; }
+        ICell CurrentSquareCell { get; set; }
+    }
+}

ConsoleApp/Sim/Vehicle.cs

@@ -0,0 +1,35 @@
+using System;
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+
+namespace ConsoleApp.Sim
+{
+    public class Vehicle : IVehicle
+    {
+        public int Length { get; }
+        public int Width { get; }
+        public int TurnRadius { get; }
+        public int DetectorRadius { get;}
+        public HexCore.Coordinate2D CurrentHexCell { get; set; }
+        public ICell CurrentSquareCell { get; set; }
+        
+        
+
+        
+        public Vehicle(IJsonDeserializor jsonDeserializor)
+        {
+            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
+            var length = config.Length;
+            length *= 100;
+            Length = (int)Math.Ceiling((decimal)length/ 25);
+            var width = config.Width;
+            width *= 100;
+            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

@@ -0,0 +1,9 @@
+namespace ConsoleApp.Sim
+{
+    public class VehicleConfiguration
+    {
+        public int Length { get; set; }
+        public int Width { get; set; }
+        public int DetectorRadius { get; set; }
+    }
+}

ConsoleApp/Sim/VehicleConfiguration.json

@@ -0,0 +1,5 @@
+{
+  "Length": 1,
+  "Width": 1,
+  "DetectorRadius": 1
+}

ConsoleApp/SimRunner.cs

@@ -1,19 +1,150 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Net;
+using System.Threading;
+using System.Threading.Tasks;
 using ConsoleApp.Maps;
+using ConsoleApp.PathPlanners;
+using ConsoleApp.Sim;
+using HexCore;
+using ImTools;
+using Microsoft.VisualBasic;
 
 namespace ConsoleApp
 {
     public class SimRunner : ISimRunner
     {
         private IMapFactory _mapFactory;
+        private IVehicle _vehicle;
 
-        public SimRunner(IMapFactory mapFactory)
+        private IPathPlanner _pathPlanner;
+        private IMineMap _mineMap;
+        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, ISimulationResults simulationResults)
         {
             _mapFactory = mapFactory;
+            _vehicle = vehicle;
+            _pathPlanner = pathPlanner;
+            _reactivePathPlanner = reactivePathPlanner;
+            _simulationResults = simulationResults;
         }
 
         public void Run()
         {
-            throw new System.NotImplementedException();
+            _mineMap = _mapFactory.GetMineMap();
+            _simulationResults.Mines = _mineMap.PlacedMines;
+            _simulationResults.TotalBombs = _mineMap.TotalBombs;
+            SquareSimulation();
+            HexSimulation();
+            // while(!squareTask.IsCompleted && !hexTask.IsCompleted){Thread.Sleep(500);}
+
         }
+
+        private void HexSimulation()
+        {
+            var hexMap = _mapFactory.GetHexMap();
+            _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
+            var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
+            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;
+                        break;
+                    }
+
+                    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;
+        }
+
+        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);
+            
+        }
+
+
+        private void SquareSimulation()
+        {
+            var squareMap = _mapFactory.GetSquareMap();
+            _vehicle.CurrentSquareCell = squareMap.StartingCell;
+            var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
+        }
+
     }
 }

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}");
+            }
+        }
+    }
+}

ConsoleApp/UserConsole.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Collections.Generic;
 using System.Linq;
 using ConsoleApp.Maps;
 
@@ -6,8 +7,6 @@ namespace ConsoleApp
 {
     public class UserConsole : IUserConsole
     {
-        private IMapFactory _mapFactory;
-
         public UserConsole()
         {
         }
@@ -19,28 +18,40 @@ namespace ConsoleApp
                               $"\t 2: Load custom map. \n");
         }
 
-        public string GetUserInput() => Console.ReadLine();
+        public static string GetUserInput() => Console.ReadLine();
 
-        public void PrintInvalidInput()
+        public static void PrintInvalidInput() => Console.WriteLine($"Invalid input try again \n");
-        {
-            Console.WriteLine($"Invalid input try again \n");
-        }
 
         public (int width, int height) GetMapDimensions()
         {
-            Console.WriteLine($"Enter Dimensions of map/area to clear as (x, y)");
+            Console.WriteLine($"Enter map width: ");
-            var input = GetUserInput();
+            var x = GetUserInput();
-            var numbers = input.Split();
+
-            if (numbers.Length != 4)
+            if (!int.TryParse(x, out var width))
             {
                 PrintInvalidInput();
                 GetMapDimensions();
             }
 
-            var parsedNumbers = numbers.Where(x => !(x.Equals("(") || x.Equals(")"))).ToList();
+            Console.WriteLine($"Enter map height: ");
-            int.TryParse(parsedNumbers[0], out var width);
+            var y = GetUserInput();
-            int.TryParse(parsedNumbers[1], out var height);
+            if (int.TryParse(y, out var height)) return (width, height);
+            PrintInvalidInput();
+            GetMapDimensions();
             return (width, height);
         }
+
+        public static double GetMinePercentage()
+        {
+            
+            Console.WriteLine($"Enter desired percentage of mines: ");
+            var x = GetUserInput();
+
+            if (double.TryParse(x, out var percent)) return percent;
+            PrintInvalidInput();
+            GetMinePercentage();
+
+            return percent;
+        }
     }
 }

RobotIntelFinal.sln.DotSettings.user

@@ -0,0 +1,4 @@
+<wpf:ResourceDictionary xml:space="preserve" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:s="clr-namespace:System;assembly=mscorlib" xmlns:ss="urn:shemas-jetbrains-com:settings-storage-xaml" xmlns:wpf="http://schemas.microsoft.com/winfx/2006/xaml/presentation">
+	<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/DotNetCliExePath/@EntryValue">/Users/brady.bodily/.dotnet/dotnet</s:String>
+	
+	<s:String x:Key="/Default/Environment/Hierarchy/Build/BuildTool/CustomBuildToolPath/@EntryValue">/Users/brady.bodily/.dotnet/sdk/3.1.402/MSBuild.dll</s:String></wpf:ResourceDictionary>