Created Mine Map and ReactivePlanner

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

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

@@ -7,22 +7,26 @@
         <e p="Bootstrapper.cs" t="Include" />
         <e p="ConsoleApp.csproj" t="IncludeRecursive" />
         <e p="CoreModule.cs" t="Include" />
+        <e p="IJsonDeserializor.cs" t="Include" />
         <e p="IModule.cs" t="Include" />
         <e p="ISimRunner.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" />
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           <e p="Debug" t="Include">
             <e p="netcoreapp3.1" t="Include">
@@ -30,14 +34,28 @@
             </e>
           </e>
         </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="UserConsole.cs" t="Include" />
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.idea/.idea.RobotIntelFinal/.idea/workspace.xml

@@ -4,6 +4,9 @@
     <projectFile>Simulator/Simulator.csproj</projectFile>
     <projectFile>ConsoleApp/ConsoleApp.csproj</projectFile>
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@@ -15,67 +18,112 @@
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-    <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" />
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
-    <state x="1640" y="-86" key="Rider.ProjectTemplateDialog.Size" timestamp="1607287214952">
+          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+          <line>87</line>
-    </state>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="87" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
-    <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" />
+            <startOffsets>
-    <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" />
+              <option value="3651" />
-    <state x="1860" y="-144" key="RiderGenerateDialog" timestamp="1607636510472">
+            </startOffsets>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+            <endOffsets>
-    </state>
+              <option value="3667" />
-    <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" />
+            </endOffsets>
-    <state x="1703" y="-333" width="672" height="678" key="search.everywhere.popup" timestamp="1607633696072">
+          </properties>
-      <screen x="1440" y="-782" width="1200" height="1920" />
+          <option name="timeStamp" value="44" />
-    </state>
+        </line-breakpoint>
-    <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" />
+        <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

@@ -5,8 +5,23 @@
         <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>
     </ItemGroup>
 
 </Project>

ConsoleApp/CoreModule.cs

@@ -1,17 +1,23 @@
-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);
         }
         
+
         public virtual void Resolve(IContainer container)
         {
             

ConsoleApp/IJsonDeserializor.cs

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

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 +1,62 @@
 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; }
+
+
+        /// <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++) {
+            //convert to cm
-                    Map[r, q] = new HexCell(q, r, -q-r);
+            x *= 100;
-                }
+            y *= 100;
-            }
-        }
             
-        public List<HexCell> PossibleMoves(HexCell fromCell, Direction direction, Double orientation)
+            //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);
+
+            Height = yCellCount;
+            Width = xCellCount;
+            
+            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 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 +1,13 @@
+using HexCore;
+
 namespace ConsoleApp.Maps
 {
     public interface IHexMap
     {
-        
+        Graph Graph { get; }
+        OffsetTypes OffsetType { get; }
+        int Width { get; }
+        int Height { get; }
+        MovementType DefaultMovement { get; }
     }
 }

ConsoleApp/Maps/IMapFactory.cs

@@ -1,3 +1,4 @@
+using System.Collections.Generic;
 using System.Dynamic;
 
 namespace ConsoleApp.Maps
@@ -6,7 +7,10 @@ namespace ConsoleApp.Maps
     {
         int Height { get; }
         int Width { get; }
-        SquareMap SquareMap { get; }
+        int CellWidth { get; }
-        void GenerateMaps(int x, int y);
+        void GenerateMaps(int x, int y, double minePercentage);
+        IHexMap GetHexMap();
+        ISquareMap GetSquareMap();
+        IMineMap GetMineMap();
     }
 }

ConsoleApp/Maps/IMineMap.cs

@@ -0,0 +1,7 @@
+namespace ConsoleApp.Maps
+{
+    public interface IMineMap
+    {
+        bool[,] Map { 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 +1,20 @@
+namespace ConsoleApp.Maps
+{
+    public static class MapExtensions
+    {
+        public static void Fill2DArray<T>(this T[,] arr, T value)
+        {
+            int numRows = arr.GetLength(0);
+            int numCols = arr.GetLength(1);
+
+            for (int i = 0; i < numRows; ++i)
+            {
+                for (int j = 0; j < numCols; ++j)
+                {
+                    arr[i, j] = value;
+                }
+            }
+        }
+        
+    }
+}

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 +10,37 @@ namespace ConsoleApp.Maps
         private int _defaultWidth;
         public int Height { get; protected set; }
         public int Width { get; protected set; }
-        public SquareMap SquareMap { get; }
+        public int CellWidth { 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;
             Height = y;
-            throw new System.NotImplementedException();
+            _squareMap = new SquareMap(x, y);
+            _hexMap = new HexMap(x, y);
+            _mineMap = new MineMap(x, y, minePercentage);
         }
+        public IHexMap GetHexMap() => _hexMap ?? throw new NullReferenceException("hex map not initialized");
+        public ISquareMap GetSquareMap() => _squareMap ?? throw new NullReferenceException("square map not initialized");
+        public IMineMap GetMineMap() => _mineMap ?? throw new NullReferenceException("mine map not initialized");
 
-        public MapFactory()
+        public MapFactory(IVehicle vehicle)
         {
+            CellWidth = vehicle.Width/2;
             _defaultHeight = 0;
             _defaultWidth = 0;
             Height = _defaultHeight;
             Width = _defaultWidth;
+            _hexMap = default;
+            _squareMap = default;
         }
         
     }

ConsoleApp/Maps/MineMap.cs

@@ -0,0 +1,33 @@
+using System;
+using System.Collections.Generic;
+
+namespace ConsoleApp.Maps
+{
+    public class MineMap : IMineMap
+    {
+        private int _mineCount;
+        private int _x;
+        private int _y;
+        public bool[,] Map { get; }
+        public MineMap(int x, int y, double minePercentage)
+        {
+            _x = x;
+            _y = y;
+            _mineCount = x*y*((int)minePercentage/100);
+            Map = new bool[x, y];
+            Map.Fill2DArray(false);
+            PlaceMines();
+        }
+
+        private void PlaceMines()
+        {
+            var rand = new Random();
+            for (int i = 0; i < _mineCount; i++)
+            {
+                var x = rand.Next(_x);
+                var y = rand.Next(_y);
+                Map[x, y] = true;
+            }
+        }
+    }
+}

ConsoleApp/Maps/SquareCell.cs

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

ConsoleApp/Maps/SquareMap.cs

@@ -1,7 +1,111 @@
+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)
+        {
+            //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;
+            Height = yCellCount-1;
+
+            
+            //Initialize Map
+            Map = new Cell[xCellCount, yCellCount];
+
+            //set last cell;
+            StartingCell = Map[0, 0];
+            for (int i = 0; i < xCellCount; i++)
+            {
+                for (int j = 0; j < yCellCount; 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/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 +1,10 @@
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public interface IReactivePathPlanner
+    {
+        Queue<Coordinate2D> ReactiveHexPath { get; }
+    }
+}

ConsoleApp/PathPlanners/PathPlanner.cs

@@ -0,0 +1,131 @@
+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)
+            {
+                if (currentHeading == GlobalDirection.East)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
+                }
+                
+                else if(currentHeading == GlobalDirection.West)
+                {
+                    path.AddRange(hexMap.Graph.GetShortestPath(
+                        currentPostion,
+                        new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType),
+                        hexMap.DefaultMovement));
+                    currentPostion = new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType);
+                    
+                }
+
+                if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
+                {
+                    finished = true;
+                    break;
+                }
+
+                Coordinate2D tmpPosition;
+                    if(currentHeading == GlobalDirection.East) 
+                        tmpPosition = new Coordinate3D(
+                            currentPostion.To3D().X-1, 
+                            currentPostion.To3D().Y,
+                            currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
+                    else
+                        tmpPosition = new Coordinate3D(
+                            currentPostion.To3D().X, 
+                            currentPostion.To3D().Y-1,
+                            currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
+                while (hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius*2).Contains(tmpPosition))
+                {
+                    if(currentHeading == GlobalDirection.East) 
+                        tmpPosition = new Coordinate3D(
+                            tmpPosition.To3D().X-1, 
+                            tmpPosition.To3D().Y,
+                            tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
+                    else
+                        tmpPosition = new Coordinate3D(
+                            tmpPosition.To3D().X, 
+                            tmpPosition.To3D().Y-1,
+                            tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
+                }
+                path.AddRange(hexMap.Graph.GetShortestPath(
+                    currentPostion,
+                    tmpPosition,
+                    hexMap.DefaultMovement));
+                currentPostion = tmpPosition;
+                if (currentHeading == GlobalDirection.East)
+                    currentHeading = GlobalDirection.West;
+                else
+                    currentHeading = GlobalDirection.East;
+
+
+            }
+            return new Queue<Coordinate2D>(path);
+        }
+    }
+}

ConsoleApp/PathPlanners/ReactivePathPlanner.cs

@@ -0,0 +1,20 @@
+using System.Collections.Generic;
+using HexCore;
+
+namespace ConsoleApp.PathPlanners
+{
+    public class ReactivePathPlanner : IReactivePathPlanner
+    {
+        public Queue<Coordinate2D> ReactiveHexPath { get; }
+
+        public ReactivePathPlanner()
+        {
+            ReactiveHexPath = new Queue<Coordinate2D>();
+        }
+
+        public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
+        {
+            
+        }
+    }
+}

ConsoleApp/Program.cs

@@ -10,33 +10,35 @@ namespace ConsoleApp
 
         static void Main(string[] args)
         {
-            _bootstrapper = new BootStrapper();
+            _bootstrapper = BootStrapper.BootstrapSystem(new CoreModule());
             _userConsole = new UserConsole();
-            StartSimulation();
+            Initialization();
+            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 +1,20 @@
+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,
+            GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
+
+        public static List<Cell> GetCoveredCells(
+            ISquareMap squareMap,
+            Cell centerCell,
+            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
+    }
+}

ConsoleApp/Sim/IVehicle.cs

@@ -0,0 +1,16 @@
+using ConsoleApp.Maps;
+
+namespace ConsoleApp.Sim
+{
+    public interface IVehicle
+    {
+        int Length { get; }
+        int Width { get; }
+        int DetectorOffset { get;}
+        int DetectorRadius { get;}
+        HexCore.Coordinate2D CurrentHexCell { get; set; }
+        Heading HexHeading { get; set; }
+        Heading SquareHeading { get; set; }
+        ICell CurrentSquareCell { get; set; }
+    }
+}

ConsoleApp/Sim/Vehicle.cs

@@ -0,0 +1,31 @@
+using ConsoleApp.Maps;
+
+namespace ConsoleApp.Sim
+{
+    public class Vehicle : IVehicle
+    {
+        public int Length { get; }
+        public int Width { get; }
+
+        public int DetectorOffset { get;}
+        public int DetectorRadius { get;}
+        public HexCore.Coordinate2D CurrentHexCell { get; set; }
+        public Heading HexHeading { get; set; }
+        public Heading SquareHeading { 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");
+            Length = config.Length;
+            Width = config.Width;
+            DetectorRadius = config.DetectorRadius;
+            DetectorOffset = config.DetectorOffset;
+            CurrentHexCell = default;
+            CurrentSquareCell = default;
+        }
+    }
+}

ConsoleApp/Sim/VehicleConfiguration.cs

@@ -0,0 +1,10 @@
+namespace ConsoleApp.Sim
+{
+    public class VehicleConfiguration
+    {
+        public int Length { get; set; }
+        public int Width { get; set; }
+        public int DetectorRadius { get; set; }
+        public int DetectorOffset { get; set; }
+    }
+}

ConsoleApp/Sim/VehicleConfiguration.json

@@ -0,0 +1,6 @@
+{
+  "Length": 3,
+  "Width": 2,
+  "DetectorRadius": 3,
+  "DetectorOffset": 2
+}

ConsoleApp/SimRunner.cs

@@ -1,19 +1,59 @@
+using System;
+using System.Collections.Generic;
+using System.Threading;
+using System.Threading.Tasks;
 using ConsoleApp.Maps;
+using ConsoleApp.PathPlanners;
+using ConsoleApp.Sim;
+using HexCore;
 
 namespace ConsoleApp
 {
     public class SimRunner : ISimRunner
     {
         private IMapFactory _mapFactory;
+        private IVehicle _vehicle;
 
-        public SimRunner(IMapFactory mapFactory)
+        private int _cellWidth;
+        private IPathPlanner _pathPlanner;
+        private IMineMap _mineMap;
+        private IReactivePathPlanner _reactivePathPlanner;
+
+
+        public SimRunner(IMapFactory mapFactory, IVehicle vehicle, IPathPlanner pathPlanner, IReactivePathPlanner reactivePathPlanner)
         {
+           
+            _cellWidth = mapFactory.CellWidth;
             _mapFactory = mapFactory;
+            _vehicle = vehicle;
+            _pathPlanner = pathPlanner;
+            _reactivePathPlanner = reactivePathPlanner;
         }
 
         public void Run()
         {
-            throw new System.NotImplementedException();
+            _mineMap = _mapFactory.GetMineMap();
+            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 reactivePath = _reactivePathPlanner.ReactiveHexPath;
+        }
+        
+
+        private void SquareSimulation()
+        {
+            var squareMap = _mapFactory.GetSquareMap();
+            _vehicle.CurrentSquareCell = squareMap.StartingCell;
+            var optimalPath = _pathPlanner.GenerateOptimalSquarePath(squareMap, _vehicle);
+        }
+
     }
 }

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 height: ");
-            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>