merge

12 files changed, 2689 insertions, 0 deletions

diff --git a/Software/Visual_Studio/SideChains/Priority Queue/FastPriorityQueue.cs b/Software/Visual_Studio/SideChains/Priority Queue/FastPriorityQueue.cs
new file mode 100644
index 000000000..927a20d41
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/FastPriorityQueue.cs
@@ -0,0 +1,593 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+
+namespace Priority_Queue
+{
+    /// <summary>
+    /// An implementation of a min-Priority Queue using a heap.  Has O(1) .Contains()!
+    /// See https://github.com/BlueRaja/High-Speed-Priority-Queue-for-C-Sharp/wiki/Getting-Started for more information
+    /// </summary>
+    /// <typeparam name="T">The values in the queue.  Must extend the FastPriorityQueueNode class</typeparam>
+    public sealed class FastPriorityQueue<T> : IFixedSizePriorityQueue<T, float>
+        where T : FastPriorityQueueNode
+    {
+        private int _numNodes;
+        private T[] _nodes;
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="maxNodes">The max nodes ever allowed to be enqueued (going over this will cause undefined behavior)</param>
+        public FastPriorityQueue(int maxNodes)
+        {
+#if DEBUG
+            if (maxNodes <= 0)
+            {
+                throw new InvalidOperationException("New queue size cannot be smaller than 1");
+            }
+#endif
+
+            _numNodes = 0;
+            _nodes = new T[maxNodes + 1];
+        }
+
+        /// <summary>
+        /// Returns the number of nodes in the queue.
+        /// O(1)
+        /// </summary>
+        public int Count
+        {
+            get
+            {
+                return _numNodes;
+            }
+        }
+
+        /// <summary>
+        /// Returns the maximum number of items that can be enqueued at once in this queue.  Once you hit this number (ie. once Count == MaxSize),
+        /// attempting to enqueue another item will cause undefined behavior.  O(1)
+        /// </summary>
+        public int MaxSize
+        {
+            get
+            {
+                return _nodes.Length - 1;
+            }
+        }
+
+        /// <summary>
+        /// Removes every node from the queue.
+        /// O(n) (So, don't do this often!)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Clear()
+        {
+            Array.Clear(_nodes, 1, _numNodes);
+            _numNodes = 0;
+        }
+
+        /// <summary>
+        /// Returns (in O(1)!) whether the given node is in the queue.
+        /// If node is or has been previously added to another queue, the result is undefined unless oldQueue.ResetNode(node) has been called
+        /// O(1)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public bool Contains(T node)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Contains was called on a node from another queue.  Please call originalQueue.ResetNode() first");
+            }
+            if(node.QueueIndex < 0 || node.QueueIndex >= _nodes.Length)
+            {
+                throw new InvalidOperationException("node.QueueIndex has been corrupted. Did you change it manually? Or add this node to another queue?");
+            }
+#endif
+
+            return (_nodes[node.QueueIndex] == node);
+        }
+
+        /// <summary>
+        /// Enqueue a node to the priority queue.  Lower values are placed in front. Ties are broken arbitrarily.
+        /// If the queue is full, the result is undefined.
+        /// If the node is already enqueued, the result is undefined.
+        /// If node is or has been previously added to another queue, the result is undefined unless oldQueue.ResetNode(node) has been called
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Enqueue(T node, float priority)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if(_numNodes >= _nodes.Length - 1)
+            {
+                throw new InvalidOperationException("Queue is full - node cannot be added: " + node);
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Enqueue was called on a node from another queue.  Please call originalQueue.ResetNode() first");
+            }
+            if (Contains(node))
+            {
+                throw new InvalidOperationException("Node is already enqueued: " + node);
+            }
+            node.Queue = this;
+#endif
+
+            node.Priority = priority;
+            _numNodes++;
+            _nodes[_numNodes] = node;
+            node.QueueIndex = _numNodes;
+            CascadeUp(node);
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void CascadeUp(T node)
+        {
+            //aka Heapify-up
+            int parent;
+            if(node.QueueIndex > 1)
+            {
+                parent = node.QueueIndex >> 1;
+                T parentNode = _nodes[parent];
+                if(HasHigherOrEqualPriority(parentNode, node))
+                    return;
+
+                //Node has lower priority value, so move parent down the heap to make room
+                _nodes[node.QueueIndex] = parentNode;
+                parentNode.QueueIndex = node.QueueIndex;
+
+                node.QueueIndex = parent;
+            }
+            else
+            {
+                return;
+            }
+            while(parent > 1)
+            {
+                parent >>= 1;
+                T parentNode = _nodes[parent];
+                if(HasHigherOrEqualPriority(parentNode, node))
+                    break;
+
+                //Node has lower priority value, so move parent down the heap to make room
+                _nodes[node.QueueIndex] = parentNode;
+                parentNode.QueueIndex = node.QueueIndex;
+
+                node.QueueIndex = parent;
+            }
+            _nodes[node.QueueIndex] = node;
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void CascadeDown(T node)
+        {
+            //aka Heapify-down
+            int finalQueueIndex = node.QueueIndex;
+            int childLeftIndex = 2 * finalQueueIndex;
+
+            // If leaf node, we're done
+            if(childLeftIndex > _numNodes)
+            {
+                return;
+            }
+
+            // Check if the left-child is higher-priority than the current node
+            int childRightIndex = childLeftIndex + 1;
+            T childLeft = _nodes[childLeftIndex];
+            if(HasHigherPriority(childLeft, node))
+            {
+                // Check if there is a right child. If not, swap and finish.
+                if(childRightIndex > _numNodes)
+                {
+                    node.QueueIndex = childLeftIndex;
+                    childLeft.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childLeft;
+                    _nodes[childLeftIndex] = node;
+                    return;
+                }
+                // Check if the left-child is higher-priority than the right-child
+                T childRight = _nodes[childRightIndex];
+                if(HasHigherPriority(childLeft, childRight))
+                {
+                    // left is highest, move it up and continue
+                    childLeft.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childLeft;
+                    finalQueueIndex = childLeftIndex;
+                }
+                else
+                {
+                    // right is even higher, move it up and continue
+                    childRight.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childRight;
+                    finalQueueIndex = childRightIndex;
+                }
+            }
+            // Not swapping with left-child, does right-child exist?
+            else if(childRightIndex > _numNodes)
+            {
+                return;
+            }
+            else
+            {
+                // Check if the right-child is higher-priority than the current node
+                T childRight = _nodes[childRightIndex];
+                if(HasHigherPriority(childRight, node))
+                {
+                    childRight.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childRight;
+                    finalQueueIndex = childRightIndex;
+                }
+                // Neither child is higher-priority than current, so finish and stop.
+                else
+                {
+                    return;
+                }
+            }
+
+            while(true)
+            {
+                childLeftIndex = 2 * finalQueueIndex;
+
+                // If leaf node, we're done
+                if(childLeftIndex > _numNodes)
+                {
+                    node.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = node;
+                    break;
+                }
+
+                // Check if the left-child is higher-priority than the current node
+                childRightIndex = childLeftIndex + 1;
+                childLeft = _nodes[childLeftIndex];
+                if(HasHigherPriority(childLeft, node))
+                {
+                    // Check if there is a right child. If not, swap and finish.
+                    if(childRightIndex > _numNodes)
+                    {
+                        node.QueueIndex = childLeftIndex;
+                        childLeft.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childLeft;
+                        _nodes[childLeftIndex] = node;
+                        break;
+                    }
+                    // Check if the left-child is higher-priority than the right-child
+                    T childRight = _nodes[childRightIndex];
+                    if(HasHigherPriority(childLeft, childRight))
+                    {
+                        // left is highest, move it up and continue
+                        childLeft.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childLeft;
+                        finalQueueIndex = childLeftIndex;
+                    }
+                    else
+                    {
+                        // right is even higher, move it up and continue
+                        childRight.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childRight;
+                        finalQueueIndex = childRightIndex;
+                    }
+                }
+                // Not swapping with left-child, does right-child exist?
+                else if(childRightIndex > _numNodes)
+                {
+                    node.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = node;
+                    break;
+                }
+                else
+                {
+                    // Check if the right-child is higher-priority than the current node
+                    T childRight = _nodes[childRightIndex];
+                    if(HasHigherPriority(childRight, node))
+                    {
+                        childRight.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childRight;
+                        finalQueueIndex = childRightIndex;
+                    }
+                    // Neither child is higher-priority than current, so finish and stop.
+                    else
+                    {
+                        node.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = node;
+                        break;
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Returns true if 'higher' has higher priority than 'lower', false otherwise.
+        /// Note that calling HasHigherPriority(node, node) (ie. both arguments the same node) will return false
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private bool HasHigherPriority(T higher, T lower)
+        {
+            return (higher.Priority < lower.Priority);
+        }
+
+        /// <summary>
+        /// Returns true if 'higher' has higher priority than 'lower', false otherwise.
+        /// Note that calling HasHigherOrEqualPriority(node, node) (ie. both arguments the same node) will return true
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private bool HasHigherOrEqualPriority(T higher, T lower)
+        {
+            return (higher.Priority <= lower.Priority);
+        }
+
+        /// <summary>
+        /// Removes the head of the queue and returns it.
+        /// If queue is empty, result is undefined
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public T Dequeue()
+        {
+#if DEBUG
+            if(_numNodes <= 0)
+            {
+                throw new InvalidOperationException("Cannot call Dequeue() on an empty queue");
+            }
+
+            if(!IsValidQueue())
+            {
+                throw new InvalidOperationException("Queue has been corrupted (Did you update a node priority manually instead of calling UpdatePriority()?" +
+                                                    "Or add the same node to two different queues?)");
+            }
+#endif
+
+            T returnMe = _nodes[1];
+            //If the node is already the last node, we can remove it immediately
+            if(_numNodes == 1)
+            {
+                _nodes[1] = null;
+                _numNodes = 0;
+                return returnMe;
+            }
+
+            //Swap the node with the last node
+            T formerLastNode = _nodes[_numNodes];
+            _nodes[1] = formerLastNode;
+            formerLastNode.QueueIndex = 1;
+            _nodes[_numNodes] = null;
+            _numNodes--;
+
+            //Now bubble formerLastNode (which is no longer the last node) down
+            CascadeDown(formerLastNode);
+            return returnMe;
+        }
+
+        /// <summary>
+        /// Resize the queue so it can accept more nodes.  All currently enqueued nodes are remain.
+        /// Attempting to decrease the queue size to a size too small to hold the existing nodes results in undefined behavior
+        /// O(n)
+        /// </summary>
+        public void Resize(int maxNodes)
+        {
+#if DEBUG
+            if (maxNodes <= 0)
+            {
+                throw new InvalidOperationException("Queue size cannot be smaller than 1");
+            }
+
+            if (maxNodes < _numNodes)
+            {
+                throw new InvalidOperationException("Called Resize(" + maxNodes + "), but current queue contains " + _numNodes + " nodes");
+            }
+#endif
+
+            T[] newArray = new T[maxNodes + 1];
+            int highestIndexToCopy = Math.Min(maxNodes, _numNodes);
+            Array.Copy(_nodes, newArray, highestIndexToCopy + 1);
+            _nodes = newArray;
+        }
+
+        /// <summary>
+        /// Returns the head of the queue, without removing it (use Dequeue() for that).
+        /// If the queue is empty, behavior is undefined.
+        /// O(1)
+        /// </summary>
+        public T First
+        {
+            get
+            {
+#if DEBUG
+                if(_numNodes <= 0)
+                {
+                    throw new InvalidOperationException("Cannot call .First on an empty queue");
+                }
+#endif
+
+                return _nodes[1];
+            }
+        }
+
+        /// <summary>
+        /// This method must be called on a node every time its priority changes while it is in the queue.  
+        /// <b>Forgetting to call this method will result in a corrupted queue!</b>
+        /// Calling this method on a node not in the queue results in undefined behavior
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void UpdatePriority(T node, float priority)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.UpdatePriority was called on a node from another queue");
+            }
+            if (!Contains(node))
+            {
+                throw new InvalidOperationException("Cannot call UpdatePriority() on a node which is not enqueued: " + node);
+            }
+#endif
+
+            node.Priority = priority;
+            OnNodeUpdated(node);
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void OnNodeUpdated(T node)
+        {
+            //Bubble the updated node up or down as appropriate
+            int parentIndex = node.QueueIndex >> 1;
+
+            if(parentIndex > 0 && HasHigherPriority(node, _nodes[parentIndex]))
+            {
+                CascadeUp(node);
+            }
+            else
+            {
+                //Note that CascadeDown will be called if parentNode == node (that is, node is the root)
+                CascadeDown(node);
+            }
+        }
+
+        /// <summary>
+        /// Removes a node from the queue.  The node does not need to be the head of the queue.  
+        /// If the node is not in the queue, the result is undefined.  If unsure, check Contains() first
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Remove(T node)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Remove was called on a node from another queue");
+            }
+            if (!Contains(node))
+            {
+                throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + node);
+            }
+#endif
+
+            //If the node is already the last node, we can remove it immediately
+            if(node.QueueIndex == _numNodes)
+            {
+                _nodes[_numNodes] = null;
+                _numNodes--;
+                return;
+            }
+
+            //Swap the node with the last node
+            T formerLastNode = _nodes[_numNodes];
+            _nodes[node.QueueIndex] = formerLastNode;
+            formerLastNode.QueueIndex = node.QueueIndex;
+            _nodes[_numNodes] = null;
+            _numNodes--;
+
+            //Now bubble formerLastNode (which is no longer the last node) up or down as appropriate
+            OnNodeUpdated(formerLastNode);
+        }
+
+        /// <summary>
+        /// By default, nodes that have been previously added to one queue cannot be added to another queue.
+        /// If you need to do this, please call originalQueue.ResetNode(node) before attempting to add it in the new queue
+        /// If the node is currently in the queue or belongs to another queue, the result is undefined
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void ResetNode(T node)
+        {
+#if DEBUG
+            if (node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.ResetNode was called on a node from another queue");
+            }
+            if (Contains(node))
+            {
+                throw new InvalidOperationException("node.ResetNode was called on a node that is still in the queue");
+            }
+
+            node.Queue = null;
+#endif
+
+            node.QueueIndex = 0;
+        }
+
+        public IEnumerator<T> GetEnumerator()
+        {
+#if NET_VERSION_4_5 // ArraySegment does not implement IEnumerable before 4.5
+            IEnumerable<T> e = new ArraySegment<T>(_nodes, 1, _numNodes);
+            return e.GetEnumerator();
+#else
+            for(int i = 1; i <= _numNodes; i++)
+                yield return _nodes[i];
+#endif
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return GetEnumerator();
+        }
+
+        /// <summary>
+        /// <b>Should not be called in production code.</b>
+        /// Checks to make sure the queue is still in a valid state.  Used for testing/debugging the queue.
+        /// </summary>
+        public bool IsValidQueue()
+        {
+            for(int i = 1; i < _nodes.Length; i++)
+            {
+                if(_nodes[i] != null)
+                {
+                    int childLeftIndex = 2 * i;
+                    if(childLeftIndex < _nodes.Length && _nodes[childLeftIndex] != null && HasHigherPriority(_nodes[childLeftIndex], _nodes[i]))
+                        return false;
+
+                    int childRightIndex = childLeftIndex + 1;
+                    if(childRightIndex < _nodes.Length && _nodes[childRightIndex] != null && HasHigherPriority(_nodes[childRightIndex], _nodes[i]))
+                        return false;
+                }
+            }
+            return true;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/FastPriorityQueueNode.cs b/Software/Visual_Studio/SideChains/Priority Queue/FastPriorityQueueNode.cs
new file mode 100644
index 000000000..54b0573ec
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/FastPriorityQueueNode.cs
@@ -0,0 +1,25 @@
+using System;
+
+namespace Priority_Queue
+{
+    public class FastPriorityQueueNode
+    {
+        /// <summary>
+        /// The Priority to insert this node at.  Must be set BEFORE adding a node to the queue (ideally just once, in the node's constructor).
+        /// Should not be manually edited once the node has been enqueued - use queue.UpdatePriority() instead
+        /// </summary>
+        public float Priority { get; protected internal set; }
+
+        /// <summary>
+        /// Represents the current position in the queue
+        /// </summary>
+        public int QueueIndex { get; internal set; }
+
+#if DEBUG
+        /// <summary>
+        /// The queue this node is tied to. Used only for debug builds.
+        /// </summary>
+        public object Queue { get; internal set; }
+#endif
+    }
+}
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/GenericPriorityQueue.cs b/Software/Visual_Studio/SideChains/Priority Queue/GenericPriorityQueue.cs
new file mode 100644
index 000000000..7687ba213
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/GenericPriorityQueue.cs
@@ -0,0 +1,602 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+
+namespace Priority_Queue
+{
+    /// <summary>
+    /// A copy of StablePriorityQueue which also has generic priority-type
+    /// </summary>
+    /// <typeparam name="TItem">The values in the queue.  Must extend the GenericPriorityQueueNode class</typeparam>
+    /// <typeparam name="TPriority">The priority-type.  Must extend IComparable&lt;TPriority&gt;</typeparam>
+    public sealed class GenericPriorityQueue<TItem, TPriority> : IFixedSizePriorityQueue<TItem, TPriority>
+        where TItem : GenericPriorityQueueNode<TPriority>
+        where TPriority : IComparable<TPriority>
+    {
+        private int _numNodes;
+        private TItem[] _nodes;
+        private long _numNodesEverEnqueued;
+        private readonly Comparison<TPriority> _comparer;
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="maxNodes">The max nodes ever allowed to be enqueued (going over this will cause undefined behavior)</param>
+        public GenericPriorityQueue(int maxNodes) : this(maxNodes, Comparer<TPriority>.Default) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="maxNodes">The max nodes ever allowed to be enqueued (going over this will cause undefined behavior)</param>
+        /// <param name="comparer">The comparer used to compare TPriority values.</param>
+        public GenericPriorityQueue(int maxNodes, IComparer<TPriority> comparer) : this(maxNodes, comparer.Compare) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="maxNodes">The max nodes ever allowed to be enqueued (going over this will cause undefined behavior)</param>
+        /// <param name="comparer">The comparison function to use to compare TPriority values</param>
+        public GenericPriorityQueue(int maxNodes, Comparison<TPriority> comparer)
+        {
+#if DEBUG
+            if (maxNodes <= 0)
+            {
+                throw new InvalidOperationException("New queue size cannot be smaller than 1");
+            }
+#endif
+
+            _numNodes = 0;
+            _nodes = new TItem[maxNodes + 1];
+            _numNodesEverEnqueued = 0;
+            _comparer = comparer;
+        }
+
+        /// <summary>
+        /// Returns the number of nodes in the queue.
+        /// O(1)
+        /// </summary>
+        public int Count
+        {
+            get
+            {
+                return _numNodes;
+            }
+        }
+
+        /// <summary>
+        /// Returns the maximum number of items that can be enqueued at once in this queue.  Once you hit this number (ie. once Count == MaxSize),
+        /// attempting to enqueue another item will cause undefined behavior.  O(1)
+        /// </summary>
+        public int MaxSize
+        {
+            get
+            {
+                return _nodes.Length - 1;
+            }
+        }
+
+        /// <summary>
+        /// Removes every node from the queue.
+        /// O(n) (So, don't do this often!)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Clear()
+        {
+            Array.Clear(_nodes, 1, _numNodes);
+            _numNodes = 0;
+        }
+
+        /// <summary>
+        /// Returns (in O(1)!) whether the given node is in the queue.
+        /// If node is or has been previously added to another queue, the result is undefined unless oldQueue.ResetNode(node) has been called
+        /// O(1)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public bool Contains(TItem node)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Contains was called on a node from another queue.  Please call originalQueue.ResetNode() first");
+            }
+            if (node.QueueIndex < 0 || node.QueueIndex >= _nodes.Length)
+            {
+                throw new InvalidOperationException("node.QueueIndex has been corrupted. Did you change it manually?");
+            }
+#endif
+
+            return (_nodes[node.QueueIndex] == node);
+        }
+
+        /// <summary>
+        /// Enqueue a node to the priority queue.  Lower values are placed in front. Ties are broken by first-in-first-out.
+        /// If the queue is full, the result is undefined.
+        /// If the node is already enqueued, the result is undefined.
+        /// If node is or has been previously added to another queue, the result is undefined unless oldQueue.ResetNode(node) has been called
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Enqueue(TItem node, TPriority priority)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if(_numNodes >= _nodes.Length - 1)
+            {
+                throw new InvalidOperationException("Queue is full - node cannot be added: " + node);
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Enqueue was called on a node from another queue.  Please call originalQueue.ResetNode() first");
+            }
+            if (Contains(node))
+            {
+                throw new InvalidOperationException("Node is already enqueued: " + node);
+            }
+            node.Queue = this;
+#endif
+
+            node.Priority = priority;
+            _numNodes++;
+            _nodes[_numNodes] = node;
+            node.QueueIndex = _numNodes;
+            node.InsertionIndex = _numNodesEverEnqueued++;
+            CascadeUp(node);
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void CascadeUp(TItem node)
+        {
+            //aka Heapify-up
+            int parent;
+            if (node.QueueIndex > 1)
+            {
+                parent = node.QueueIndex >> 1;
+                TItem parentNode = _nodes[parent];
+                if(HasHigherPriority(parentNode, node))
+                    return;
+
+                //Node has lower priority value, so move parent down the heap to make room
+                _nodes[node.QueueIndex] = parentNode;
+                parentNode.QueueIndex = node.QueueIndex;
+
+                node.QueueIndex = parent;
+            }
+            else
+            {
+                return;
+            }
+            while(parent > 1)
+            {
+                parent >>= 1;
+                TItem parentNode = _nodes[parent];
+                if(HasHigherPriority(parentNode, node))
+                    break;
+
+                //Node has lower priority value, so move parent down the heap to make room
+                _nodes[node.QueueIndex] = parentNode;
+                parentNode.QueueIndex = node.QueueIndex;
+
+                node.QueueIndex = parent;
+            }
+            _nodes[node.QueueIndex] = node;
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void CascadeDown(TItem node)
+        {
+            //aka Heapify-down
+            int finalQueueIndex = node.QueueIndex;
+            int childLeftIndex = 2 * finalQueueIndex;
+
+            // If leaf node, we're done
+            if(childLeftIndex > _numNodes)
+            {
+                return;
+            }
+
+            // Check if the left-child is higher-priority than the current node
+            int childRightIndex = childLeftIndex + 1;
+            TItem childLeft = _nodes[childLeftIndex];
+            if(HasHigherPriority(childLeft, node))
+            {
+                // Check if there is a right child. If not, swap and finish.
+                if(childRightIndex > _numNodes)
+                {
+                    node.QueueIndex = childLeftIndex;
+                    childLeft.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childLeft;
+                    _nodes[childLeftIndex] = node;
+                    return;
+                }
+                // Check if the left-child is higher-priority than the right-child
+                TItem childRight = _nodes[childRightIndex];
+                if(HasHigherPriority(childLeft, childRight))
+                {
+                    // left is highest, move it up and continue
+                    childLeft.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childLeft;
+                    finalQueueIndex = childLeftIndex;
+                }
+                else
+                {
+                    // right is even higher, move it up and continue
+                    childRight.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childRight;
+                    finalQueueIndex = childRightIndex;
+                }
+            }
+            // Not swapping with left-child, does right-child exist?
+            else if(childRightIndex > _numNodes)
+            {
+                return;
+            }
+            else
+            {
+                // Check if the right-child is higher-priority than the current node
+                TItem childRight = _nodes[childRightIndex];
+                if(HasHigherPriority(childRight, node))
+                {
+                    childRight.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childRight;
+                    finalQueueIndex = childRightIndex;
+                }
+                // Neither child is higher-priority than current, so finish and stop.
+                else
+                {
+                    return;
+                }
+            }
+
+            while(true)
+            {
+                childLeftIndex = 2 * finalQueueIndex;
+
+                // If leaf node, we're done
+                if(childLeftIndex > _numNodes)
+                {
+                    node.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = node;
+                    break;
+                }
+
+                // Check if the left-child is higher-priority than the current node
+                childRightIndex = childLeftIndex + 1;
+                childLeft = _nodes[childLeftIndex];
+                if(HasHigherPriority(childLeft, node))
+                {
+                    // Check if there is a right child. If not, swap and finish.
+                    if(childRightIndex > _numNodes)
+                    {
+                        node.QueueIndex = childLeftIndex;
+                        childLeft.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childLeft;
+                        _nodes[childLeftIndex] = node;
+                        break;
+                    }
+                    // Check if the left-child is higher-priority than the right-child
+                    TItem childRight = _nodes[childRightIndex];
+                    if(HasHigherPriority(childLeft, childRight))
+                    {
+                        // left is highest, move it up and continue
+                        childLeft.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childLeft;
+                        finalQueueIndex = childLeftIndex;
+                    }
+                    else
+                    {
+                        // right is even higher, move it up and continue
+                        childRight.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childRight;
+                        finalQueueIndex = childRightIndex;
+                    }
+                }
+                // Not swapping with left-child, does right-child exist?
+                else if(childRightIndex > _numNodes)
+                {
+                    node.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = node;
+                    break;
+                }
+                else
+                {
+                    // Check if the right-child is higher-priority than the current node
+                    TItem childRight = _nodes[childRightIndex];
+                    if(HasHigherPriority(childRight, node))
+                    {
+                        childRight.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childRight;
+                        finalQueueIndex = childRightIndex;
+                    }
+                    // Neither child is higher-priority than current, so finish and stop.
+                    else
+                    {
+                        node.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = node;
+                        break;
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Returns true if 'higher' has higher priority than 'lower', false otherwise.
+        /// Note that calling HasHigherPriority(node, node) (ie. both arguments the same node) will return false
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private bool HasHigherPriority(TItem higher, TItem lower)
+        {
+            var cmp = _comparer(higher.Priority, lower.Priority);
+            return (cmp < 0 || (cmp == 0 && higher.InsertionIndex < lower.InsertionIndex));
+        }
+
+        /// <summary>
+        /// Removes the head of the queue (node with minimum priority; ties are broken by order of insertion), and returns it.
+        /// If queue is empty, result is undefined
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public TItem Dequeue()
+        {
+#if DEBUG
+            if(_numNodes <= 0)
+            {
+                throw new InvalidOperationException("Cannot call Dequeue() on an empty queue");
+            }
+
+            if(!IsValidQueue())
+            {
+                throw new InvalidOperationException("Queue has been corrupted (Did you update a node priority manually instead of calling UpdatePriority()?" +
+                                                    "Or add the same node to two different queues?)");
+            }
+#endif
+
+            TItem returnMe = _nodes[1];
+            //If the node is already the last node, we can remove it immediately
+            if(_numNodes == 1)
+            {
+                _nodes[1] = null;
+                _numNodes = 0;
+                return returnMe;
+            }
+
+            //Swap the node with the last node
+            TItem formerLastNode = _nodes[_numNodes];
+            _nodes[1] = formerLastNode;
+            formerLastNode.QueueIndex = 1;
+            _nodes[_numNodes] = null;
+            _numNodes--;
+
+            //Now bubble formerLastNode (which is no longer the last node) down
+            CascadeDown(formerLastNode);
+            return returnMe;
+        }
+
+        /// <summary>
+        /// Resize the queue so it can accept more nodes.  All currently enqueued nodes are remain.
+        /// Attempting to decrease the queue size to a size too small to hold the existing nodes results in undefined behavior
+        /// O(n)
+        /// </summary>
+        public void Resize(int maxNodes)
+        {
+#if DEBUG
+            if (maxNodes <= 0)
+            {
+                throw new InvalidOperationException("Queue size cannot be smaller than 1");
+            }
+
+            if (maxNodes < _numNodes)
+            {
+                throw new InvalidOperationException("Called Resize(" + maxNodes + "), but current queue contains " + _numNodes + " nodes");
+            }
+#endif
+
+            TItem[] newArray = new TItem[maxNodes + 1];
+            int highestIndexToCopy = Math.Min(maxNodes, _numNodes);
+            Array.Copy(_nodes, newArray, highestIndexToCopy + 1);
+            _nodes = newArray;
+        }
+
+        /// <summary>
+        /// Returns the head of the queue, without removing it (use Dequeue() for that).
+        /// If the queue is empty, behavior is undefined.
+        /// O(1)
+        /// </summary>
+        public TItem First
+        {
+            get
+            {
+#if DEBUG
+                if(_numNodes <= 0)
+                {
+                    throw new InvalidOperationException("Cannot call .First on an empty queue");
+                }
+#endif
+
+                return _nodes[1];
+            }
+        }
+
+        /// <summary>
+        /// This method must be called on a node every time its priority changes while it is in the queue.  
+        /// <b>Forgetting to call this method will result in a corrupted queue!</b>
+        /// Calling this method on a node not in the queue results in undefined behavior
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void UpdatePriority(TItem node, TPriority priority)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.UpdatePriority was called on a node from another queue");
+            }
+            if (!Contains(node))
+            {
+                throw new InvalidOperationException("Cannot call UpdatePriority() on a node which is not enqueued: " + node);
+            }
+#endif
+
+            node.Priority = priority;
+            OnNodeUpdated(node);
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void OnNodeUpdated(TItem node)
+        {
+            //Bubble the updated node up or down as appropriate
+            int parentIndex = node.QueueIndex >> 1;
+
+            if(parentIndex > 0 && HasHigherPriority(node, _nodes[parentIndex]))
+            {
+                CascadeUp(node);
+            }
+            else
+            {
+                //Note that CascadeDown will be called if parentNode == node (that is, node is the root)
+                CascadeDown(node);
+            }
+        }
+
+        /// <summary>
+        /// Removes a node from the queue.  The node does not need to be the head of the queue.  
+        /// If the node is not in the queue, the result is undefined.  If unsure, check Contains() first
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Remove(TItem node)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Remove was called on a node from another queue");
+            }
+            if (!Contains(node))
+            {
+                throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + node);
+            }
+#endif
+
+            //If the node is already the last node, we can remove it immediately
+            if(node.QueueIndex == _numNodes)
+            {
+                _nodes[_numNodes] = null;
+                _numNodes--;
+                return;
+            }
+
+            //Swap the node with the last node
+            TItem formerLastNode = _nodes[_numNodes];
+            _nodes[node.QueueIndex] = formerLastNode;
+            formerLastNode.QueueIndex = node.QueueIndex;
+            _nodes[_numNodes] = null;
+            _numNodes--;
+
+            //Now bubble formerLastNode (which is no longer the last node) up or down as appropriate
+            OnNodeUpdated(formerLastNode);
+        }
+
+        /// <summary>
+        /// By default, nodes that have been previously added to one queue cannot be added to another queue.
+        /// If you need to do this, please call originalQueue.ResetNode(node) before attempting to add it in the new queue
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void ResetNode(TItem node)
+        {
+#if DEBUG
+            if (node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.ResetNode was called on a node from another queue");
+            }
+            if (Contains(node))
+            {
+                throw new InvalidOperationException("node.ResetNode was called on a node that is still in the queue");
+            }
+
+            node.Queue = null;
+#endif
+
+            node.QueueIndex = 0;
+        }
+
+
+        public IEnumerator<TItem> GetEnumerator()
+        {
+#if NET_VERSION_4_5 // ArraySegment does not implement IEnumerable before 4.5
+            IEnumerable<TItem> e = new ArraySegment<TItem>(_nodes, 1, _numNodes);
+            return e.GetEnumerator();
+#else
+            for(int i = 1; i <= _numNodes; i++)
+                yield return _nodes[i];
+#endif
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return GetEnumerator();
+        }
+
+        /// <summary>
+        /// <b>Should not be called in production code.</b>
+        /// Checks to make sure the queue is still in a valid state.  Used for testing/debugging the queue.
+        /// </summary>
+        public bool IsValidQueue()
+        {
+            for(int i = 1; i < _nodes.Length; i++)
+            {
+                if(_nodes[i] != null)
+                {
+                    int childLeftIndex = 2 * i;
+                    if(childLeftIndex < _nodes.Length && _nodes[childLeftIndex] != null && HasHigherPriority(_nodes[childLeftIndex], _nodes[i]))
+                        return false;
+
+                    int childRightIndex = childLeftIndex + 1;
+                    if(childRightIndex < _nodes.Length && _nodes[childRightIndex] != null && HasHigherPriority(_nodes[childRightIndex], _nodes[i]))
+                        return false;
+                }
+            }
+            return true;
+        }
+    }
+}
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/GenericPriorityQueueNode.cs b/Software/Visual_Studio/SideChains/Priority Queue/GenericPriorityQueueNode.cs
new file mode 100644
index 000000000..5a53ed24e
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/GenericPriorityQueueNode.cs
@@ -0,0 +1,29 @@
+namespace Priority_Queue
+{
+    public class GenericPriorityQueueNode<TPriority>
+    {
+        /// <summary>
+        /// The Priority to insert this node at.  Must be set BEFORE adding a node to the queue (ideally just once, in the node's constructor).
+        /// Should not be manually edited once the node has been enqueued - use queue.UpdatePriority() instead
+        /// </summary>
+        public TPriority Priority { get; protected internal set; }
+
+        /// <summary>
+        /// Represents the current position in the queue
+        /// </summary>
+        public int QueueIndex { get; internal set; }
+
+        /// <summary>
+        /// Represents the order the node was inserted in
+        /// </summary>
+        public long InsertionIndex { get; internal set; }
+
+
+#if DEBUG
+        /// <summary>
+        /// The queue this node is tied to. Used only for debug builds.
+        /// </summary>
+        public object Queue { get; internal set; }
+#endif
+    }
+}
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/IFixedSizePriorityQueue.cs b/Software/Visual_Studio/SideChains/Priority Queue/IFixedSizePriorityQueue.cs
new file mode 100644
index 000000000..e95f7c29b
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/IFixedSizePriorityQueue.cs
@@ -0,0 +1,31 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace Priority_Queue
+{
+    /// <summary>
+    /// A helper-interface only needed to make writing unit tests a bit easier (hence the 'internal' access modifier)
+    /// </summary>
+    internal interface IFixedSizePriorityQueue<TItem, in TPriority> : IPriorityQueue<TItem, TPriority>
+        where TPriority : IComparable<TPriority>
+    {
+        /// <summary>
+        /// Resize the queue so it can accept more nodes.  All currently enqueued nodes are remain.
+        /// Attempting to decrease the queue size to a size too small to hold the existing nodes results in undefined behavior
+        /// </summary>
+        void Resize(int maxNodes);
+
+        /// <summary>
+        /// Returns the maximum number of items that can be enqueued at once in this queue.  Once you hit this number (ie. once Count == MaxSize),
+        /// attempting to enqueue another item will cause undefined behavior.
+        /// </summary>
+        int MaxSize { get; }
+
+        /// <summary>
+        /// By default, nodes that have been previously added to one queue cannot be added to another queue.
+        /// If you need to do this, please call originalQueue.ResetNode(node) before attempting to add it in the new queue
+        /// </summary>
+        void ResetNode(TItem node);
+    }
+}
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/IPriorityQueue.cs b/Software/Visual_Studio/SideChains/Priority Queue/IPriorityQueue.cs
new file mode 100644
index 000000000..a5053e955
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/IPriorityQueue.cs
@@ -0,0 +1,55 @@
+using System;
+using System.Collections.Generic;
+
+namespace Priority_Queue
+{
+    /// <summary>
+    /// The IPriorityQueue interface.  This is mainly here for purists, and in case I decide to add more implementations later.
+    /// For speed purposes, it is actually recommended that you *don't* access the priority queue through this interface, since the JIT can
+    /// (theoretically?) optimize method calls from concrete-types slightly better.
+    /// </summary>
+    public interface IPriorityQueue<TItem, in TPriority> : IEnumerable<TItem>
+        where TPriority : IComparable<TPriority>
+    {
+        /// <summary>
+        /// Enqueue a node to the priority queue.  Lower values are placed in front. Ties are broken by first-in-first-out.
+        /// See implementation for how duplicates are handled.
+        /// </summary>
+        void Enqueue(TItem node, TPriority priority);
+
+        /// <summary>
+        /// Removes the head of the queue (node with minimum priority; ties are broken by order of insertion), and returns it.
+        /// </summary>
+        TItem Dequeue();
+
+        /// <summary>
+        /// Removes every node from the queue.
+        /// </summary>
+        void Clear();
+
+        /// <summary>
+        /// Returns whether the given node is in the queue.
+        /// </summary>
+        bool Contains(TItem node);
+
+        /// <summary>
+        /// Removes a node from the queue.  The node does not need to be the head of the queue.  
+        /// </summary>
+        void Remove(TItem node);
+
+        /// <summary>
+        /// Call this method to change the priority of a node.  
+        /// </summary>
+        void UpdatePriority(TItem node, TPriority priority);
+
+        /// <summary>
+        /// Returns the head of the queue, without removing it (use Dequeue() for that).
+        /// </summary>
+        TItem First { get; }
+
+        /// <summary>
+        /// Returns the number of nodes in the queue.
+        /// </summary>
+        int Count { get; }
+    }
+}
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/Priority Queue.csproj b/Software/Visual_Studio/SideChains/Priority Queue/Priority Queue.csproj
new file mode 100644
index 000000000..8b02157f1
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/Priority Queue.csproj
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{1531C1EA-BD53-41D1-A34B-CFCDF79D2651}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Priority_Queue</RootNamespace>
+    <AssemblyName>Priority Queue</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <CustomConstants Condition=" '$(TargetFrameworkVersion)' == 'v4.5' ">NET_VERSION_4_5</CustomConstants>
+    <DefineConstants>$(DefineConstants);$(CustomConstants)</DefineConstants>
+    <TargetFrameworkProfile>
+    </TargetFrameworkProfile>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <CustomConstants Condition=" '$(TargetFrameworkVersion)' == 'v4.5' ">NET_VERSION_4_5</CustomConstants>
+    <DefineConstants>$(DefineConstants);$(CustomConstants)</DefineConstants>
+    <Prefer32Bit>false</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <CustomConstants Condition=" '$(TargetFrameworkVersion)' == 'v4.5' ">NET_VERSION_4_5</CustomConstants>
+    <DefineConstants>$(DefineConstants);$(CustomConstants)</DefineConstants>
+    <Prefer32Bit>false</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release 4.5|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <DefineConstants>TRACE;NET_VERSION_4_5</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <Prefer32Bit>false</Prefer32Bit>
+    <OutputPath>bin\Release\net45\</OutputPath>
+    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <DocumentationFile>bin\Release\net45\Priority Queue.xml</DocumentationFile>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release 2.0|AnyCPU'">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <Prefer32Bit>false</Prefer32Bit>
+    <OutputPath>bin\Release\net20\</OutputPath>
+    <TargetFrameworkVersion>v2.0</TargetFrameworkVersion>
+    <DocumentationFile>bin\Release\net20\Priority Queue.xml</DocumentationFile>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="GenericPriorityQueue.cs" />
+    <Compile Include="GenericPriorityQueueNode.cs" />
+    <Compile Include="IFixedSizePriorityQueue.cs" />
+    <Compile Include="StablePriorityQueue.cs" />
+    <Compile Include="FastPriorityQueue.cs" />
+    <Compile Include="StablePriorityQueueNode.cs" />
+    <Compile Include="IPriorityQueue.cs" />
+    <Compile Include="FastPriorityQueueNode.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="SimplePriorityQueue.cs" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>
\ No newline at end of file
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/Priority Queue.nuspec b/Software/Visual_Studio/SideChains/Priority Queue/Priority Queue.nuspec
new file mode 100644
index 000000000..94ab70f4d
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/Priority Queue.nuspec
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<package >
+  <metadata>
+    <id>OptimizedPriorityQueue</id>
+    <version>4.2.0</version>
+    <title>Highly Optimized Priority Queue</title>
+    <authors>BlueRaja</authors>
+    <owners>BlueRaja</owners>
+    <licenseUrl>https://github.com/BlueRaja/High-Speed-Priority-Queue-for-C-Sharp/blob/master/LICENSE.txt</licenseUrl>
+    <projectUrl>https://github.com/BlueRaja/High-Speed-Priority-Queue-for-C-Sharp</projectUrl>
+    <requireLicenseAcceptance>false</requireLicenseAcceptance>
+    <description>A highly optimized Priority Queue for path-finding and related applications</description>
+    <releaseNotes>Speed improvements; added ResetNode(); included IEqualityComparer in SimplePriorityQueue to avoid boxing</releaseNotes>
+    <copyright>Copyright 2018</copyright>
+    <tags>C# priority-queue pathfinding optimized</tags>
+  </metadata>
+  <files>
+    <file src="bin\Release\net20\Priority Queue.dll" target="lib\net20\Priority Queue.dll" />
+    <file src="bin\Release\net20\Priority Queue.pdb" target="lib\net20\Priority Queue.pdb" />
+    <file src="bin\Release\net20\Priority Queue.xml" target="lib\net20\Priority Queue.xml" />
+    
+    <file src="bin\Release\net45\Priority Queue.dll" target="lib\net45\Priority Queue.dll" />
+    <file src="bin\Release\net45\Priority Queue.pdb" target="lib\net45\Priority Queue.pdb" />
+    <file src="bin\Release\net45\Priority Queue.xml" target="lib\net45\Priority Queue.xml" />
+    
+    <file src="..\Priority Queue UWP\bin\Release\netcore45\Priority Queue.dll" target="lib\netstandard1.0\Priority Queue.dll" />
+    <file src="..\Priority Queue UWP\bin\Release\netcore45\Priority Queue.pdb" target="lib\netstandard1.0\Priority Queue.pdb" />
+    <file src="..\Priority Queue UWP\bin\Release\netcore45\Priority Queue.xml" target="lib\netstandard1.0\Priority Queue.xml" />
+    
+    <file src="..\Priority Queue PCL\bin\Release\Priority Queue.dll" target="lib\portable-net40+sl5+win8+wpa81+wp8\Priority Queue.dll" />
+    <file src="..\Priority Queue PCL\bin\Release\Priority Queue.pdb" target="lib\portable-net40+sl5+win8+wpa81+wp8\Priority Queue.pdb" />
+    <file src="..\Priority Queue PCL\bin\Release\Priority Queue.xml" target="lib\portable-net40+sl5+win8+wpa81+wp8\Priority Queue.xml" />
+    
+    <file src="..\Priority Queue Unity Full\bin\Release\Priority Queue.dll" target="lib\net35-unity full v3.5\Priority Queue.dll" />
+    <file src="..\Priority Queue Unity Full\bin\Release\Priority Queue.pdb" target="lib\net35-unity full v3.5\Priority Queue.pdb" />
+    <file src="..\Priority Queue Unity Full\bin\Release\Priority Queue.xml" target="lib\net35-unity full v3.5\Priority Queue.xml" />
+    
+    <file src="..\Priority Queue Unity Subset\bin\Release\Priority Queue.dll" target="lib\net35-unity subset v3.5\Priority Queue.dll" />
+    <file src="..\Priority Queue Unity Subset\bin\Release\Priority Queue.pdb" target="lib\net35-unity subset v3.5\Priority Queue.pdb" />
+    <file src="..\Priority Queue Unity Subset\bin\Release\Priority Queue.xml" target="lib\net35-unity subset v3.5\Priority Queue.xml" />
+  </files>
+</package>
\ No newline at end of file
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/Properties/AssemblyInfo.cs b/Software/Visual_Studio/SideChains/Priority Queue/Properties/AssemblyInfo.cs
new file mode 100644
index 000000000..7143261f2
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/Properties/AssemblyInfo.cs
@@ -0,0 +1,38 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("Highly Optimized Priority Queue")]
+[assembly: AssemblyDescription("A highly optimized Priority Queue for path-finding and related applications")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Highly Optimized Priority Queue")]
+[assembly: AssemblyCopyright("Copyright © BlueRaja 2017")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("3eee6b54-af8a-494b-9121-3d46ed09a58b")]
+
+[assembly: InternalsVisibleToAttribute("Priority Queue Tests")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("4.2.0")]
+[assembly: AssemblyFileVersion("4.2.0")]
\ No newline at end of file
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/SimplePriorityQueue.cs b/Software/Visual_Studio/SideChains/Priority Queue/SimplePriorityQueue.cs
new file mode 100644
index 000000000..0d35ff1ac
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/SimplePriorityQueue.cs
@@ -0,0 +1,588 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Priority_Queue
+{
+    /// <summary>
+    /// A simplified priority queue implementation.  Is stable, auto-resizes, and thread-safe, at the cost of being slightly slower than
+    /// FastPriorityQueue
+    /// Methods tagged as O(1) or O(log n) are assuming there are no duplicates.  Duplicates may increase the algorithmic complexity.
+    /// </summary>
+    /// <typeparam name="TItem">The type to enqueue</typeparam>
+    /// <typeparam name="TPriority">The priority-type to use for nodes.  Must extend IComparable&lt;TPriority&gt;</typeparam>
+    public class SimplePriorityQueue<TItem, TPriority> : IPriorityQueue<TItem, TPriority>
+        where TPriority : IComparable<TPriority>
+    {
+        private class SimpleNode : GenericPriorityQueueNode<TPriority>
+        {
+            public TItem Data { get; private set; }
+
+            public SimpleNode(TItem data)
+            {
+                Data = data;
+            }
+        }
+
+        private const int INITIAL_QUEUE_SIZE = 10;
+        private readonly GenericPriorityQueue<SimpleNode, TPriority> _queue;
+        private readonly Dictionary<TItem, IList<SimpleNode>> _itemToNodesCache;
+        private readonly IList<SimpleNode> _nullNodesCache;
+
+        #region Constructors
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        public SimplePriorityQueue() : this(Comparer<TPriority>.Default, EqualityComparer<TItem>.Default) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="priorityComparer">The comparer used to compare TPriority values.  Defaults to Comparer&lt;TPriority&gt;.default</param>
+        public SimplePriorityQueue(IComparer<TPriority> priorityComparer) : this(priorityComparer.Compare, EqualityComparer<TItem>.Default) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="priorityComparer">The comparison function to use to compare TPriority values</param>
+        public SimplePriorityQueue(Comparison<TPriority> priorityComparer) : this(priorityComparer, EqualityComparer<TItem>.Default) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue       
+        /// </summary>
+        /// <param name="itemEquality">The equality comparison function to use to compare TItem values</param>
+        public SimplePriorityQueue(IEqualityComparer<TItem> itemEquality) : this(Comparer<TPriority>.Default, itemEquality) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="priorityComparer">The comparer used to compare TPriority values.  Defaults to Comparer&lt;TPriority&gt;.default</param>
+        /// <param name="itemEquality">The equality comparison function to use to compare TItem values</param>
+        public SimplePriorityQueue(IComparer<TPriority> priorityComparer, IEqualityComparer<TItem> itemEquality) : this(priorityComparer.Compare, itemEquality) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="priorityComparer">The comparison function to use to compare TPriority values</param>
+        /// <param name="itemEquality">The equality comparison function to use to compare TItem values</param>
+        public SimplePriorityQueue(Comparison<TPriority> priorityComparer, IEqualityComparer<TItem> itemEquality)
+        {
+            _queue = new GenericPriorityQueue<SimpleNode, TPriority>(INITIAL_QUEUE_SIZE, priorityComparer);
+            _itemToNodesCache = new Dictionary<TItem, IList<SimpleNode>>(itemEquality);
+            _nullNodesCache = new List<SimpleNode>();
+        }
+        #endregion
+
+        /// <summary>
+        /// Given an item of type T, returns the existing SimpleNode in the queue
+        /// </summary>
+        private SimpleNode GetExistingNode(TItem item)
+        {
+            if (item == null)
+            {
+                return _nullNodesCache.Count > 0 ? _nullNodesCache[0] : null;
+            }
+
+            IList<SimpleNode> nodes;
+            if (!_itemToNodesCache.TryGetValue(item, out nodes))
+            {
+                return null;
+            }
+            return nodes[0];
+        }
+
+        /// <summary>
+        /// Adds an item to the Node-cache to allow for many methods to be O(1) or O(log n)
+        /// </summary>
+        private void AddToNodeCache(SimpleNode node)
+        {
+            if (node.Data == null)
+            {
+                _nullNodesCache.Add(node);
+                return;
+            }
+
+            IList<SimpleNode> nodes;
+            if (!_itemToNodesCache.TryGetValue(node.Data, out nodes))
+            {
+                nodes = new List<SimpleNode>();
+                _itemToNodesCache[node.Data] = nodes;
+            }
+            nodes.Add(node);
+        }
+
+        /// <summary>
+        /// Removes an item to the Node-cache to allow for many methods to be O(1) or O(log n) (assuming no duplicates)
+        /// </summary>
+        private void RemoveFromNodeCache(SimpleNode node)
+        {
+            if (node.Data == null)
+            {
+                _nullNodesCache.Remove(node);
+                return;
+            }
+
+            IList<SimpleNode> nodes;
+            if (!_itemToNodesCache.TryGetValue(node.Data, out nodes))
+            {
+                return;
+            }
+            nodes.Remove(node);
+            if (nodes.Count == 0)
+            {
+                _itemToNodesCache.Remove(node.Data);
+            }
+        }
+
+        /// <summary>
+        /// Returns the number of nodes in the queue.
+        /// O(1)
+        /// </summary>
+        public int Count
+        {
+            get
+            {
+                lock(_queue)
+                {
+                    return _queue.Count;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Returns the head of the queue, without removing it (use Dequeue() for that).
+        /// Throws an exception when the queue is empty.
+        /// O(1)
+        /// </summary>
+        public TItem First
+        {
+            get
+            {
+                lock(_queue)
+                {
+                    if(_queue.Count <= 0)
+                    {
+                        throw new InvalidOperationException("Cannot call .First on an empty queue");
+                    }
+
+                    return _queue.First.Data;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Removes every node from the queue.
+        /// O(n)
+        /// </summary>
+        public void Clear()
+        {
+            lock(_queue)
+            {
+                _queue.Clear();
+                _itemToNodesCache.Clear();
+                _nullNodesCache.Clear();
+            }
+        }
+
+        /// <summary>
+        /// Returns whether the given item is in the queue.
+        /// O(1)
+        /// </summary>
+        public bool Contains(TItem item)
+        {
+            lock(_queue)
+            {
+                return item == null ? _nullNodesCache.Count > 0 : _itemToNodesCache.ContainsKey(item);
+            }
+        }
+
+        /// <summary>
+        /// Removes the head of the queue (node with minimum priority; ties are broken by order of insertion), and returns it.
+        /// If queue is empty, throws an exception
+        /// O(log n)
+        /// </summary>
+        public TItem Dequeue()
+        {
+            lock(_queue)
+            {
+                if(_queue.Count <= 0)
+                {
+                    throw new InvalidOperationException("Cannot call Dequeue() on an empty queue");
+                }
+
+                SimpleNode node =_queue.Dequeue();
+                RemoveFromNodeCache(node);
+                return node.Data;
+            }
+        }
+
+        /// <summary>
+        /// Enqueue the item with the given priority, without calling lock(_queue) or AddToNodeCache(node)
+        /// </summary>
+        /// <param name="item"></param>
+        /// <param name="priority"></param>
+        /// <returns></returns>
+        private SimpleNode EnqueueNoLockOrCache(TItem item, TPriority priority)
+        {
+            SimpleNode node = new SimpleNode(item);
+            if (_queue.Count == _queue.MaxSize)
+            {
+                _queue.Resize(_queue.MaxSize * 2 + 1);
+            }
+            _queue.Enqueue(node, priority);
+            return node;
+        }
+
+        /// <summary>
+        /// Enqueue a node to the priority queue.  Lower values are placed in front. Ties are broken by first-in-first-out.
+        /// This queue automatically resizes itself, so there's no concern of the queue becoming 'full'.
+        /// Duplicates and null-values are allowed.
+        /// O(log n)
+        /// </summary>
+        public void Enqueue(TItem item, TPriority priority)
+        {
+            lock(_queue)
+            {
+                IList<SimpleNode> nodes;
+                if (item == null)
+                {
+                    nodes = _nullNodesCache;
+                }
+                else if (!_itemToNodesCache.TryGetValue(item, out nodes))
+                {
+                    nodes = new List<SimpleNode>();
+                    _itemToNodesCache[item] = nodes;
+                }
+                SimpleNode node = EnqueueNoLockOrCache(item, priority);
+                nodes.Add(node);
+            }
+        }
+
+        /// <summary>
+        /// Enqueue a node to the priority queue if it doesn't already exist.  Lower values are placed in front. Ties are broken by first-in-first-out.
+        /// This queue automatically resizes itself, so there's no concern of the queue becoming 'full'.  Null values are allowed.
+        /// Returns true if the node was successfully enqueued; false if it already exists.
+        /// O(log n)
+        /// </summary>
+        public bool EnqueueWithoutDuplicates(TItem item, TPriority priority)
+        {
+            lock(_queue)
+            {
+                IList<SimpleNode> nodes;
+                if (item == null)
+                {
+                    if (_nullNodesCache.Count > 0)
+                    {
+                        return false;
+                    }
+                    nodes = _nullNodesCache;
+                }
+                else if (_itemToNodesCache.ContainsKey(item))
+                {
+                    return false;
+                }
+                else
+                {
+                    nodes = new List<SimpleNode>();
+                    _itemToNodesCache[item] = nodes;
+                }
+                SimpleNode node = EnqueueNoLockOrCache(item, priority);
+                nodes.Add(node);
+                return true;
+            }
+        }
+
+        /// <summary>
+        /// Removes an item from the queue.  The item does not need to be the head of the queue.  
+        /// If the item is not in the queue, an exception is thrown.  If unsure, check Contains() first.
+        /// If multiple copies of the item are enqueued, only the first one is removed. 
+        /// O(log n)
+        /// </summary>
+        public void Remove(TItem item)
+        {
+            lock(_queue)
+            {
+                SimpleNode removeMe;
+                IList<SimpleNode> nodes;
+                if (item == null)
+                {
+                    if (_nullNodesCache.Count == 0)
+                    {
+                        throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + item);
+                    }
+                    removeMe = _nullNodesCache[0];
+                    nodes = _nullNodesCache;
+                }
+                else
+                {
+                    if (!_itemToNodesCache.TryGetValue(item, out nodes))
+                    {
+                        throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + item);
+                    }
+                    removeMe = nodes[0];
+                    if (nodes.Count == 1)
+                    {
+                        _itemToNodesCache.Remove(item);
+                    }
+                }
+                _queue.Remove(removeMe);
+                nodes.Remove(removeMe);
+            }
+        }
+
+        /// <summary>
+        /// Call this method to change the priority of an item.
+        /// Calling this method on a item not in the queue will throw an exception.
+        /// If the item is enqueued multiple times, only the first one will be updated.
+        /// (If your requirements are complex enough that you need to enqueue the same item multiple times <i>and</i> be able
+        /// to update all of them, please wrap your items in a wrapper class so they can be distinguished).
+        /// O(log n)
+        /// </summary>
+        public void UpdatePriority(TItem item, TPriority priority)
+        {
+            lock (_queue)
+            {
+                SimpleNode updateMe = GetExistingNode(item);
+                if (updateMe == null)
+                {
+                    throw new InvalidOperationException("Cannot call UpdatePriority() on a node which is not enqueued: " + item);
+                }
+                _queue.UpdatePriority(updateMe, priority);
+            }
+        }
+
+        /// <summary>
+        /// Returns the priority of the given item.
+        /// Calling this method on a item not in the queue will throw an exception.
+        /// If the item is enqueued multiple times, only the priority of the first will be returned.
+        /// (If your requirements are complex enough that you need to enqueue the same item multiple times <i>and</i> be able
+        /// to query all their priorities, please wrap your items in a wrapper class so they can be distinguished).
+        /// O(1)
+        /// </summary>
+        public TPriority GetPriority(TItem item)
+        {
+            lock (_queue)
+            {
+                SimpleNode findMe = GetExistingNode(item);
+                if(findMe == null)
+                {
+                    throw new InvalidOperationException("Cannot call GetPriority() on a node which is not enqueued: " + item);
+                }
+                return findMe.Priority;
+            }
+        }
+
+        #region Try* methods for multithreading
+        /// Get the head of the queue, without removing it (use TryDequeue() for that).
+        /// Useful for multi-threading, where the queue may become empty between calls to Contains() and First
+        /// Returns true if successful, false otherwise
+        /// O(1)
+        public bool TryFirst(out TItem first)
+        {
+            if (_queue.Count > 0)
+            {
+                lock (_queue)
+                {
+                    if (_queue.Count > 0)
+                    {
+                        first = _queue.First.Data;
+                        return true;
+                    }
+                }
+            }
+
+            first = default(TItem);
+            return false;
+        }
+
+        /// <summary>
+        /// Removes the head of the queue (node with minimum priority; ties are broken by order of insertion), and sets it to first.
+        /// Useful for multi-threading, where the queue may become empty between calls to Contains() and Dequeue()
+        /// Returns true if successful; false if queue was empty
+        /// O(log n)
+        /// </summary>
+        public bool TryDequeue(out TItem first)
+        {
+            if (_queue.Count > 0)
+            {
+                lock (_queue)
+                {
+                    if (_queue.Count > 0)
+                    {
+                        SimpleNode node = _queue.Dequeue();
+                        first = node.Data;
+                        RemoveFromNodeCache(node);
+                        return true;
+                    }
+                }
+            }
+            
+            first = default(TItem);
+            return false;
+        }
+
+        /// <summary>
+        /// Attempts to remove an item from the queue.  The item does not need to be the head of the queue.  
+        /// Useful for multi-threading, where the queue may become empty between calls to Contains() and Remove()
+        /// Returns true if the item was successfully removed, false if it wasn't in the queue.
+        /// If multiple copies of the item are enqueued, only the first one is removed. 
+        /// O(log n)
+        /// </summary>
+        public bool TryRemove(TItem item)
+        {
+            lock(_queue)
+            {
+                SimpleNode removeMe;
+                IList<SimpleNode> nodes;
+                if (item == null)
+                {
+                    if (_nullNodesCache.Count == 0)
+                    {
+                        return false;
+                    }
+                    removeMe = _nullNodesCache[0];
+                    nodes = _nullNodesCache;
+                }
+                else
+                {
+                    if (!_itemToNodesCache.TryGetValue(item, out nodes))
+                    {
+                        return false;
+                    }
+                    removeMe = nodes[0];
+                    if (nodes.Count == 1)
+                    {
+                        _itemToNodesCache.Remove(item);
+                    }
+                }
+                _queue.Remove(removeMe);
+                nodes.Remove(removeMe);
+                return true;
+            }
+        }
+
+        /// <summary>
+        /// Call this method to change the priority of an item.
+        /// Useful for multi-threading, where the queue may become empty between calls to Contains() and UpdatePriority()
+        /// If the item is enqueued multiple times, only the first one will be updated.
+        /// (If your requirements are complex enough that you need to enqueue the same item multiple times <i>and</i> be able
+        /// to update all of them, please wrap your items in a wrapper class so they can be distinguished).
+        /// Returns true if the item priority was updated, false otherwise.
+        /// O(log n)
+        /// </summary>
+        public bool TryUpdatePriority(TItem item, TPriority priority)
+        {
+            lock(_queue)
+            {
+                SimpleNode updateMe = GetExistingNode(item);
+                if(updateMe == null)
+                {
+                    return false;
+                }
+                _queue.UpdatePriority(updateMe, priority);
+                return true;
+            }
+        }
+
+        /// <summary>
+        /// Attempt to get the priority of the given item.
+        /// Useful for multi-threading, where the queue may become empty between calls to Contains() and GetPriority()
+        /// If the item is enqueued multiple times, only the priority of the first will be returned.
+        /// (If your requirements are complex enough that you need to enqueue the same item multiple times <i>and</i> be able
+        /// to query all their priorities, please wrap your items in a wrapper class so they can be distinguished).
+        /// Returns true if the item was found in the queue, false otherwise
+        /// O(1)
+        /// </summary>
+        public bool TryGetPriority(TItem item, out TPriority priority)
+        {
+            lock(_queue)
+            {
+                SimpleNode findMe = GetExistingNode(item);
+                if(findMe == null)
+                {
+                    priority = default(TPriority);
+                    return false;
+                }
+                priority = findMe.Priority;
+                return true;
+            }
+        }
+        #endregion
+
+        public IEnumerator<TItem> GetEnumerator()
+        {
+            List<TItem> queueData = new List<TItem>();
+            lock (_queue)
+            {
+                //Copy to a separate list because we don't want to 'yield return' inside a lock
+                foreach(var node in _queue)
+                {
+                    queueData.Add(node.Data);
+                }
+            }
+
+            return queueData.GetEnumerator();
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return GetEnumerator();
+        }
+
+        public bool IsValidQueue()
+        {
+            lock(_queue)
+            {
+                // Check all items in cache are in the queue
+                foreach (IList<SimpleNode> nodes in _itemToNodesCache.Values)
+                {
+                    foreach (SimpleNode node in nodes)
+                    {
+                        if (!_queue.Contains(node))
+                        {
+                            return false;
+                        }
+                    }
+                }
+
+                // Check all items in queue are in cache
+                foreach (SimpleNode node in _queue)
+                {
+                    if (GetExistingNode(node.Data) == null)
+                    {
+                        return false;
+                    }
+                }
+
+                // Check queue structure itself
+                return _queue.IsValidQueue();
+            }
+        }
+    }
+
+    /// <summary>
+    /// A simplified priority queue implementation.  Is stable, auto-resizes, and thread-safe, at the cost of being slightly slower than
+    /// FastPriorityQueue
+    /// This class is kept here for backwards compatibility.  It's recommended you use SimplePriorityQueue&lt;TItem, TPriority&gt;
+    /// </summary>
+    /// <typeparam name="TItem">The type to enqueue</typeparam>
+    public class SimplePriorityQueue<TItem> : SimplePriorityQueue<TItem, float>
+    {
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        public SimplePriorityQueue() { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="comparer">The comparer used to compare priority values.  Defaults to Comparer&lt;float&gt;.default</param>
+        public SimplePriorityQueue(IComparer<float> comparer) : base(comparer) { }
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="comparer">The comparison function to use to compare priority values</param>
+        public SimplePriorityQueue(Comparison<float> comparer) : base(comparer) { }
+    }
+}
\ No newline at end of file
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/StablePriorityQueue.cs b/Software/Visual_Studio/SideChains/Priority Queue/StablePriorityQueue.cs
new file mode 100644
index 000000000..442b2dbcc
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/StablePriorityQueue.cs
@@ -0,0 +1,587 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+
+namespace Priority_Queue
+{
+    /// <summary>
+    /// A copy of FastPriorityQueue which is also stable - that is, when two nodes are enqueued with the same priority, they
+    /// are always dequeued in the same order.
+    /// See https://github.com/BlueRaja/High-Speed-Priority-Queue-for-C-Sharp/wiki/Getting-Started for more information
+    /// </summary>
+    /// <typeparam name="T">The values in the queue.  Must extend the StablePriorityQueueNode class</typeparam>
+    public sealed class StablePriorityQueue<T> : IFixedSizePriorityQueue<T, float>
+        where T : StablePriorityQueueNode
+    {
+        private int _numNodes;
+        private T[] _nodes;
+        private long _numNodesEverEnqueued;
+
+        /// <summary>
+        /// Instantiate a new Priority Queue
+        /// </summary>
+        /// <param name="maxNodes">The max nodes ever allowed to be enqueued (going over this will cause undefined behavior)</param>
+        public StablePriorityQueue(int maxNodes)
+        {
+            #if DEBUG
+            if (maxNodes <= 0)
+            {
+                throw new InvalidOperationException("New queue size cannot be smaller than 1");
+            }
+            #endif
+
+            _numNodes = 0;
+            _nodes = new T[maxNodes + 1];
+            _numNodesEverEnqueued = 0;
+        }
+
+        /// <summary>
+        /// Returns the number of nodes in the queue.
+        /// O(1)
+        /// </summary>
+        public int Count
+        {
+            get
+            {
+                return _numNodes;
+            }
+        }
+
+        /// <summary>
+        /// Returns the maximum number of items that can be enqueued at once in this queue.  Once you hit this number (ie. once Count == MaxSize),
+        /// attempting to enqueue another item will cause undefined behavior.  O(1)
+        /// </summary>
+        public int MaxSize
+        {
+            get
+            {
+                return _nodes.Length - 1;
+            }
+        }
+
+        /// <summary>
+        /// Removes every node from the queue.
+        /// O(n) (So, don't do this often!)
+        /// </summary>
+        #if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        #endif
+        public void Clear()
+        {
+            Array.Clear(_nodes, 1, _numNodes);
+            _numNodes = 0;
+        }
+
+        /// <summary>
+        /// Returns (in O(1)!) whether the given node is in the queue.
+        /// If node is or has been previously added to another queue, the result is undefined unless oldQueue.ResetNode(node) has been called
+        /// O(1)
+        /// </summary>
+        #if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        #endif
+        public bool Contains(T node)
+        {
+            #if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Contains was called on a node from another queue.  Please call originalQueue.ResetNode() first");
+            }
+            if (node.QueueIndex < 0 || node.QueueIndex >= _nodes.Length)
+            {
+                throw new InvalidOperationException("node.QueueIndex has been corrupted. Did you change it manually?");
+            }
+            #endif
+
+            return (_nodes[node.QueueIndex] == node);
+        }
+
+        /// <summary>
+        /// Enqueue a node to the priority queue.  Lower values are placed in front. Ties are broken by first-in-first-out.
+        /// If the queue is full, the result is undefined.
+        /// If the node is already enqueued, the result is undefined.
+        /// If node is or has been previously added to another queue, the result is undefined unless oldQueue.ResetNode(node) has been called
+        /// O(log n)
+        /// </summary>
+        #if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        #endif
+        public void Enqueue(T node, float priority)
+        {
+            #if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if(_numNodes >= _nodes.Length - 1)
+            {
+                throw new InvalidOperationException("Queue is full - node cannot be added: " + node);
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Enqueue was called on a node from another queue.  Please call originalQueue.ResetNode() first");
+            }
+            if (Contains(node))
+            {
+                throw new InvalidOperationException("Node is already enqueued: " + node);
+            }
+            node.Queue = this;
+            #endif
+
+            node.Priority = priority;
+            _numNodes++;
+            _nodes[_numNodes] = node;
+            node.QueueIndex = _numNodes;
+            node.InsertionIndex = _numNodesEverEnqueued++;
+            CascadeUp(node);
+        }
+
+        //Performance appears to be slightly better when this is NOT inlined o_O
+        #if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        #endif
+        private void CascadeUp(T node)
+        {
+            //aka Heapify-up
+            int parent;
+            if(node.QueueIndex > 1)
+            {
+                parent = node.QueueIndex >> 1;
+                T parentNode = _nodes[parent];
+                if(HasHigherPriority(parentNode, node))
+                    return;
+
+                //Node has lower priority value, so move parent down the heap to make room
+                _nodes[node.QueueIndex] = parentNode;
+                parentNode.QueueIndex = node.QueueIndex;
+
+                node.QueueIndex = parent;
+            }
+            else
+            {
+                return;
+            }
+            while(parent > 1)
+            {
+                parent >>= 1;
+                T parentNode = _nodes[parent];
+                if(HasHigherPriority(parentNode, node))
+                    break;
+
+                //Node has lower priority value, so move parent down the heap to make room
+                _nodes[node.QueueIndex] = parentNode;
+                parentNode.QueueIndex = node.QueueIndex;
+
+                node.QueueIndex = parent;
+            }
+            _nodes[node.QueueIndex] = node;
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void CascadeDown(T node)
+        {
+            //aka Heapify-down
+            int finalQueueIndex = node.QueueIndex;
+            int childLeftIndex = 2 * finalQueueIndex;
+
+            // If leaf node, we're done
+            if(childLeftIndex > _numNodes)
+            {
+                return;
+            }
+
+            // Check if the left-child is higher-priority than the current node
+            int childRightIndex = childLeftIndex + 1;
+            T childLeft = _nodes[childLeftIndex];
+            if(HasHigherPriority(childLeft, node))
+            {
+                // Check if there is a right child. If not, swap and finish.
+                if(childRightIndex > _numNodes)
+                {
+                    node.QueueIndex = childLeftIndex;
+                    childLeft.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childLeft;
+                    _nodes[childLeftIndex] = node;
+                    return;
+                }
+                // Check if the left-child is higher-priority than the right-child
+                T childRight = _nodes[childRightIndex];
+                if(HasHigherPriority(childLeft, childRight))
+                {
+                    // left is highest, move it up and continue
+                    childLeft.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childLeft;
+                    finalQueueIndex = childLeftIndex;
+                }
+                else
+                {
+                    // right is even higher, move it up and continue
+                    childRight.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childRight;
+                    finalQueueIndex = childRightIndex;
+                }
+            }
+            // Not swapping with left-child, does right-child exist?
+            else if(childRightIndex > _numNodes)
+            {
+                return;
+            }
+            else
+            {
+                // Check if the right-child is higher-priority than the current node
+                T childRight = _nodes[childRightIndex];
+                if(HasHigherPriority(childRight, node))
+                {
+                    childRight.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = childRight;
+                    finalQueueIndex = childRightIndex;
+                }
+                // Neither child is higher-priority than current, so finish and stop.
+                else
+                {
+                    return;
+                }
+            }
+
+            while(true)
+            {
+                childLeftIndex = 2 * finalQueueIndex;
+
+                // If leaf node, we're done
+                if(childLeftIndex > _numNodes)
+                {
+                    node.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = node;
+                    break;
+                }
+
+                // Check if the left-child is higher-priority than the current node
+                childRightIndex = childLeftIndex + 1;
+                childLeft = _nodes[childLeftIndex];
+                if(HasHigherPriority(childLeft, node))
+                {
+                    // Check if there is a right child. If not, swap and finish.
+                    if(childRightIndex > _numNodes)
+                    {
+                        node.QueueIndex = childLeftIndex;
+                        childLeft.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childLeft;
+                        _nodes[childLeftIndex] = node;
+                        break;
+                    }
+                    // Check if the left-child is higher-priority than the right-child
+                    T childRight = _nodes[childRightIndex];
+                    if(HasHigherPriority(childLeft, childRight))
+                    {
+                        // left is highest, move it up and continue
+                        childLeft.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childLeft;
+                        finalQueueIndex = childLeftIndex;
+                    }
+                    else
+                    {
+                        // right is even higher, move it up and continue
+                        childRight.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childRight;
+                        finalQueueIndex = childRightIndex;
+                    }
+                }
+                // Not swapping with left-child, does right-child exist?
+                else if(childRightIndex > _numNodes)
+                {
+                    node.QueueIndex = finalQueueIndex;
+                    _nodes[finalQueueIndex] = node;
+                    break;
+                }
+                else
+                {
+                    // Check if the right-child is higher-priority than the current node
+                    T childRight = _nodes[childRightIndex];
+                    if(HasHigherPriority(childRight, node))
+                    {
+                        childRight.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = childRight;
+                        finalQueueIndex = childRightIndex;
+                    }
+                    // Neither child is higher-priority than current, so finish and stop.
+                    else
+                    {
+                        node.QueueIndex = finalQueueIndex;
+                        _nodes[finalQueueIndex] = node;
+                        break;
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Returns true if 'higher' has higher priority than 'lower', false otherwise.
+        /// Note that calling HasHigherPriority(node, node) (ie. both arguments the same node) will return false
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        #endif
+        private bool HasHigherPriority(T higher, T lower)
+        {
+            return (higher.Priority < lower.Priority ||
+                (higher.Priority == lower.Priority && higher.InsertionIndex < lower.InsertionIndex));
+        }
+
+        /// <summary>
+        /// Removes the head of the queue (node with minimum priority; ties are broken by order of insertion), and returns it.
+        /// If queue is empty, result is undefined
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public T Dequeue()
+        {
+            #if DEBUG
+            if(_numNodes <= 0)
+            {
+                throw new InvalidOperationException("Cannot call Dequeue() on an empty queue");
+            }
+
+            if(!IsValidQueue())
+            {
+                throw new InvalidOperationException("Queue has been corrupted (Did you update a node priority manually instead of calling UpdatePriority()?" +
+                                                    "Or add the same node to two different queues?)");
+            }
+            #endif
+
+            T returnMe = _nodes[1];
+            //If the node is already the last node, we can remove it immediately
+            if(_numNodes == 1)
+            {
+                _nodes[1] = null;
+                _numNodes = 0;
+                return returnMe;
+            }
+
+            //Swap the node with the last node
+            T formerLastNode = _nodes[_numNodes];
+            _nodes[1] = formerLastNode;
+            formerLastNode.QueueIndex = 1;
+            _nodes[_numNodes] = null;
+            _numNodes--;
+
+            //Now bubble formerLastNode (which is no longer the last node) down
+            CascadeDown(formerLastNode);
+            return returnMe;
+        }
+
+        /// <summary>
+        /// Resize the queue so it can accept more nodes.  All currently enqueued nodes are remain.
+        /// Attempting to decrease the queue size to a size too small to hold the existing nodes results in undefined behavior
+        /// O(n)
+        /// </summary>
+        public void Resize(int maxNodes)
+        {
+            #if DEBUG
+            if (maxNodes <= 0)
+            {
+                throw new InvalidOperationException("Queue size cannot be smaller than 1");
+            }
+
+            if (maxNodes < _numNodes)
+            {
+                throw new InvalidOperationException("Called Resize(" + maxNodes + "), but current queue contains " + _numNodes + " nodes");
+            }
+            #endif
+
+            T[] newArray = new T[maxNodes + 1];
+            int highestIndexToCopy = Math.Min(maxNodes, _numNodes);
+            Array.Copy(_nodes, newArray, highestIndexToCopy + 1);
+            _nodes = newArray;
+        }
+
+        /// <summary>
+        /// Returns the head of the queue, without removing it (use Dequeue() for that).
+        /// If the queue is empty, behavior is undefined.
+        /// O(1)
+        /// </summary>
+        public T First
+        {
+            get
+            {
+                #if DEBUG
+                if(_numNodes <= 0)
+                {
+                    throw new InvalidOperationException("Cannot call .First on an empty queue");
+                }
+                #endif
+
+                return _nodes[1];
+            }
+        }
+
+        /// <summary>
+        /// This method must be called on a node every time its priority changes while it is in the queue.  
+        /// <b>Forgetting to call this method will result in a corrupted queue!</b>
+        /// Calling this method on a node not in the queue results in undefined behavior
+        /// O(log n)
+        /// </summary>
+        #if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        #endif
+        public void UpdatePriority(T node, float priority)
+        {
+            #if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.UpdatePriority was called on a node from another queue");
+            }
+            if (!Contains(node))
+            {
+                throw new InvalidOperationException("Cannot call UpdatePriority() on a node which is not enqueued: " + node);
+            }
+            #endif
+
+            node.Priority = priority;
+            OnNodeUpdated(node);
+        }
+
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        private void OnNodeUpdated(T node)
+        {
+            //Bubble the updated node up or down as appropriate
+            int parentIndex = node.QueueIndex >> 1;
+
+            if(parentIndex > 0 && HasHigherPriority(node, _nodes[parentIndex]))
+            {
+                CascadeUp(node);
+            }
+            else
+            {
+                //Note that CascadeDown will be called if parentNode == node (that is, node is the root)
+                CascadeDown(node);
+            }
+        }
+
+        /// <summary>
+        /// Removes a node from the queue.  The node does not need to be the head of the queue.  
+        /// If the node is not in the queue, the result is undefined.  If unsure, check Contains() first
+        /// O(log n)
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void Remove(T node)
+        {
+#if DEBUG
+            if(node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.Remove was called on a node from another queue");
+            }
+            if (!Contains(node))
+            {
+                throw new InvalidOperationException("Cannot call Remove() on a node which is not enqueued: " + node);
+            }
+#endif
+
+            //If the node is already the last node, we can remove it immediately
+            if(node.QueueIndex == _numNodes)
+            {
+                _nodes[_numNodes] = null;
+                _numNodes--;
+                return;
+            }
+
+            //Swap the node with the last node
+            T formerLastNode = _nodes[_numNodes];
+            _nodes[node.QueueIndex] = formerLastNode;
+            formerLastNode.QueueIndex = node.QueueIndex;
+            _nodes[_numNodes] = null;
+            _numNodes--;
+
+            //Now bubble formerLastNode (which is no longer the last node) up or down as appropriate
+            OnNodeUpdated(formerLastNode);
+        }
+
+        /// <summary>
+        /// By default, nodes that have been previously added to one queue cannot be added to another queue.
+        /// If you need to do this, please call originalQueue.ResetNode(node) before attempting to add it in the new queue
+        /// </summary>
+#if NET_VERSION_4_5
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+#endif
+        public void ResetNode(T node)
+        {
+#if DEBUG
+            if (node == null)
+            {
+                throw new ArgumentNullException("node");
+            }
+            if (node.Queue != null && !Equals(node.Queue))
+            {
+                throw new InvalidOperationException("node.ResetNode was called on a node from another queue");
+            }
+            if (Contains(node))
+            {
+                throw new InvalidOperationException("node.ResetNode was called on a node that is still in the queue");
+            }
+
+            node.Queue = null;
+#endif
+
+            node.QueueIndex = 0;
+        }
+
+
+        public IEnumerator<T> GetEnumerator()
+        {
+#if NET_VERSION_4_5 // ArraySegment does not implement IEnumerable before 4.5
+            IEnumerable<T> e = new ArraySegment<T>(_nodes, 1, _numNodes);
+            return e.GetEnumerator();
+#else
+            for(int i = 1; i <= _numNodes; i++)
+                yield return _nodes[i];
+#endif
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return GetEnumerator();
+        }
+
+        /// <summary>
+        /// <b>Should not be called in production code.</b>
+        /// Checks to make sure the queue is still in a valid state.  Used for testing/debugging the queue.
+        /// </summary>
+        public bool IsValidQueue()
+        {
+            for(int i = 1; i < _nodes.Length; i++)
+            {
+                if(_nodes[i] != null)
+                {
+                    int childLeftIndex = 2 * i;
+                    if(childLeftIndex < _nodes.Length && _nodes[childLeftIndex] != null && HasHigherPriority(_nodes[childLeftIndex], _nodes[i]))
+                        return false;
+
+                    int childRightIndex = childLeftIndex + 1;
+                    if(childRightIndex < _nodes.Length && _nodes[childRightIndex] != null && HasHigherPriority(_nodes[childRightIndex], _nodes[i]))
+                        return false;
+                }
+            }
+            return true;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Software/Visual_Studio/SideChains/Priority Queue/StablePriorityQueueNode.cs b/Software/Visual_Studio/SideChains/Priority Queue/StablePriorityQueueNode.cs
new file mode 100644
index 000000000..c794aa0d0
--- /dev/null
+++ b/Software/Visual_Studio/SideChains/Priority Queue/StablePriorityQueueNode.cs
@@ -0,0 +1,10 @@
+namespace Priority_Queue
+{
+    public class StablePriorityQueueNode : FastPriorityQueueNode
+    {
+        /// <summary>
+        /// Represents the order the node was inserted in
+        /// </summary>
+        public long InsertionIndex { get; internal set; }
+    }
+}