Refactors some cleaning slimes behaviors to be subtypes of cleanbot behaviors

code/__DEFINES/ai/bot_keys.dm

@@ -35,6 +35,10 @@
 #define BB_NEAR_DEATH_SPEECH "near_death_speech"
 ///in crit patient we must alert medbay about
 #define BB_PATIENT_IN_CRIT "patient_in_crit"
+///how much time interval before we clear list
+#define BB_UNREACHABLE_LIST_COOLDOWN "unreachable_list_cooldown"
+///can we clear the list now
+#define	BB_CLEAR_LIST_READY "clear_list_ready"
 
 // cleanbots
 ///key that holds the foaming ability

code/datums/ai/basic_mobs/basic_ai_behaviors/travel_towards.dm

@@ -8,13 +8,15 @@
 	behavior_flags = AI_BEHAVIOR_REQUIRE_MOVEMENT | AI_BEHAVIOR_CAN_PLAN_DURING_EXECUTION
 	/// If true we will get rid of our target on completion
 	var/clear_target = FALSE
+	///should we use a different movement type?
+	var/new_movement_type
 
 /datum/ai_behavior/travel_towards/setup(datum/ai_controller/controller, target_key)
 	. = ..()
 	var/atom/target = controller.blackboard[target_key]
 	if(QDELETED(target))
 		return FALSE
-	set_movement_target(controller, target)
+	set_movement_target(controller, target, new_movement_type)
 
 /datum/ai_behavior/travel_towards/perform(seconds_per_tick, datum/ai_controller/controller, target_key)
 	. = ..()
@@ -24,6 +26,8 @@
 	. = ..()
 	if (clear_target)
 		controller.clear_blackboard_key(target_key)
+	if(new_movement_type)
+		controller.change_ai_movement_type(initial(controller.ai_movement))
 
 /datum/ai_behavior/travel_towards/stop_on_arrival
 	clear_target = TRUE

code/datums/ai/generic/find_and_set.dm

@@ -12,11 +12,11 @@
 		finish_action(controller, TRUE)
 		return
 	var/find_this_thing = search_tactic(controller, locate_path, search_range)
-	if(find_this_thing)
-		controller.set_blackboard_key(set_key, find_this_thing)
-		finish_action(controller, TRUE)
-	else
+	if(QDELETED(controller.pawn) || isnull(find_this_thing))
 		finish_action(controller, FALSE)
+		return
+	controller.set_blackboard_key(set_key, find_this_thing)
+	finish_action(controller, TRUE)
 
 /datum/ai_behavior/find_and_set/proc/search_tactic(datum/ai_controller/controller, locate_path, search_range)
 	return locate(locate_path) in oview(search_range, controller.pawn)

code/datums/ai/movement/ai_movement_jps.dm

@@ -39,7 +39,7 @@
 
 /datum/ai_movement/jps/bot
 	max_pathing_attempts = 25
-	maximum_length = AI_BOT_PATH_LENGTH
+	maximum_length = 25
 	diagonal_flags = DIAGONAL_REMOVE_ALL
 
 /datum/ai_movement/jps/bot/start_moving_towards(datum/ai_controller/controller, atom/current_movement_target, min_distance)
@@ -48,3 +48,6 @@
 	if(isnull(our_pawn))
 		return
 	our_pawn.RegisterSignal(loop, COMSIG_MOVELOOP_JPS_FINISHED_PATHING, TYPE_PROC_REF(/mob/living/basic/bot, generate_bot_path))
+
+/datum/ai_movement/jps/bot/travel_to_beacon
+	maximum_length = AI_BOT_PATH_LENGTH

code/modules/mob/living/basic/bots/bot_ai.dm

@@ -5,7 +5,8 @@
 			"salutes",
 			"nods in appreciation towards",
 			"fist bumps",
-		)
+		),
+		BB_UNREACHABLE_LIST_COOLDOWN = 45 SECONDS,
 	)
 
 	ai_movement = /datum/ai_movement/jps/bot
@@ -54,10 +55,12 @@
 		clear_blackboard_key(key)
 
 ///set the target if we can reach them
-/datum/ai_controller/basic_controller/bot/proc/set_if_can_reach(key, target, distance = 10)
+/datum/ai_controller/basic_controller/bot/proc/set_if_can_reach(key, target, distance = 10, bypass_add_to_blacklist = FALSE)
 	if(can_reach_target(target, distance))
 		set_blackboard_key(key, target)
 		return TRUE
+	if(!bypass_add_to_blacklist)
+		set_blackboard_key_assoc_lazylist(BB_TEMPORARY_IGNORE_LIST, REF(target), TRUE)
 	return FALSE
 
 /datum/ai_controller/basic_controller/bot/proc/can_reach_target(target, distance = 10)
@@ -70,42 +73,30 @@
 		return FALSE
 	return TRUE
 
-///check if the target is too far away, and delete them if so and add them to the unreachables list
-/datum/ai_controller/basic_controller/bot/proc/reachable_key(key, distance = 10)
-	var/datum/target = blackboard[key]
-	if(QDELETED(target))
-		return FALSE
-	var/datum/last_attempt = blackboard[BB_LAST_ATTEMPTED_PATHING]
-	if(last_attempt != target)
-		current_pathing_attempts = 0
-		set_blackboard_key(BB_LAST_ATTEMPTED_PATHING, target)
-	else
-		current_pathing_attempts++
-	if(current_pathing_attempts >= max_pathing_attempts || !can_reach_target(target, distance))
-		clear_blackboard_key(key)
-		clear_blackboard_key(BB_LAST_ATTEMPTED_PATHING)
-		set_blackboard_key_assoc_lazylist(BB_TEMPORARY_IGNORE_LIST, target, TRUE)
-		return FALSE
-	return TRUE
-
 /// subtree to manage our list of unreachables, we reset it every 15 seconds
 /datum/ai_planning_subtree/manage_unreachable_list
 
 /datum/ai_planning_subtree/manage_unreachable_list/SelectBehaviors(datum/ai_controller/controller, seconds_per_tick)
+	if(isnull(controller.blackboard[BB_UNREACHABLE_LIST_COOLDOWN]) || controller.blackboard[BB_CLEAR_LIST_READY] > world.time)
+		return
 	controller.queue_behavior(/datum/ai_behavior/manage_unreachable_list, BB_TEMPORARY_IGNORE_LIST)
 
 /datum/ai_behavior/manage_unreachable_list
 	behavior_flags = AI_BEHAVIOR_CAN_PLAN_DURING_EXECUTION
-	action_cooldown = 45 SECONDS
 
 /datum/ai_behavior/manage_unreachable_list/perform(seconds_per_tick, datum/ai_controller/controller, list_key)
 	. = ..()
 	if(!isnull(controller.blackboard[list_key]))
 		controller.clear_blackboard_key(list_key)
 	finish_action(controller, TRUE)
 
+/datum/ai_behavior/manage_unreachable_list/finish_action(datum/ai_controller/controller, succeeded)
+	. = ..()
+	controller.set_blackboard_key(BB_CLEAR_LIST_READY, controller.blackboard[BB_UNREACHABLE_LIST_COOLDOWN] + world.time)
 
 /datum/ai_planning_subtree/find_patrol_beacon
+	///travel towards beacon behavior
+	var/travel_behavior = /datum/ai_behavior/travel_towards/beacon
 
 /datum/ai_planning_subtree/find_patrol_beacon/SelectBehaviors(datum/ai_controller/controller, seconds_per_tick)
 	var/mob/living/basic/bot/bot_pawn = controller.pawn
@@ -114,7 +105,7 @@
 
 	if(controller.blackboard_key_exists(BB_BEACON_TARGET))
 		bot_pawn.update_bot_mode(new_mode = BOT_PATROL)
-		controller.queue_behavior(/datum/ai_behavior/travel_towards/beacon, BB_BEACON_TARGET)
+		controller.queue_behavior(travel_behavior, BB_BEACON_TARGET)
 		return
 
 	if(controller.blackboard_key_exists(BB_PREVIOUS_BEACON_TARGET))
@@ -132,9 +123,9 @@
 	var/atom/final_target
 	var/atom/previous_target = controller.blackboard[BB_PREVIOUS_BEACON_TARGET]
 	for(var/obj/machinery/navbeacon/beacon as anything in GLOB.navbeacons["[bot_pawn.z]"])
-		if(beacon == previous_target)
-			continue
 		var/dist = get_dist(bot_pawn, beacon)
+		if(beacon == previous_target || dist <= 1)
+			continue
 		if(dist > closest_distance)
 			continue
 		closest_distance = dist
@@ -170,6 +161,7 @@
 
 /datum/ai_behavior/travel_towards/beacon
 	clear_target = TRUE
+	new_movement_type = /datum/ai_movement/jps/bot/travel_to_beacon
 
 /datum/ai_behavior/travel_towards/beacon/finish_action(datum/ai_controller/controller, succeeded, target_key)
 	var/atom/target = controller.blackboard[target_key]
@@ -188,9 +180,12 @@
 
 /datum/ai_behavior/travel_towards/bot_summon
 	clear_target = TRUE
+	new_movement_type = /datum/ai_movement/jps/bot/travel_to_beacon
 
 /datum/ai_behavior/travel_towards/bot_summon/finish_action(datum/ai_controller/controller, succeeded, target_key)
 	var/mob/living/basic/bot/bot_pawn = controller.pawn
+	if(QDELETED(bot_pawn)) // pawn can be null at this point
+		return ..()
 	bot_pawn.calling_ai_ref = null
 	bot_pawn.update_bot_mode(new_mode = BOT_IDLE)
 	return ..()

code/modules/mob/living/basic/bots/cleanbot/cleanbot_ai.dm

@@ -6,6 +6,7 @@
 		BB_TARGETING_STRATEGY = /datum/targeting_strategy/basic/allow_items,
 		BB_PET_TARGETING_STRATEGY = /datum/targeting_strategy/basic/not_friends,
 		BB_TARGETING_STRATEGY = /datum/targeting_strategy/basic,
+		BB_UNREACHABLE_LIST_COOLDOWN = 3 MINUTES,
 		BB_SALUTE_MESSAGES = list(
 			"salutes",
 			"nods in appreciation towards",
@@ -51,7 +52,7 @@
 /datum/ai_planning_subtree/cleaning_subtree
 
 /datum/ai_planning_subtree/cleaning_subtree/SelectBehaviors(datum/ai_controller/basic_controller/bot/cleanbot/controller, seconds_per_tick)
-	if(controller.reachable_key(BB_CLEAN_TARGET, BOT_CLEAN_PATH_LIMIT))
+	if(controller.blackboard_key_exists(BB_CLEAN_TARGET))
 		controller.queue_behavior(/datum/ai_behavior/execute_clean, BB_CLEAN_TARGET)
 		return SUBTREE_RETURN_FINISH_PLANNING
 
@@ -68,13 +69,17 @@
 	controller.queue_behavior(/datum/ai_behavior/find_and_set/in_list/clean_targets, BB_CLEAN_TARGET, final_hunt_list)
 
 /datum/ai_behavior/find_and_set/in_list/clean_targets
-	action_cooldown = 2 SECONDS //Monkestation edit
+	action_cooldown = 3 SECONDS
 
 /datum/ai_behavior/find_and_set/in_list/clean_targets/search_tactic(datum/ai_controller/controller, locate_paths, search_range)
 	var/list/found = typecache_filter_list(oview(search_range, controller.pawn), locate_paths)
 	var/list/ignore_list = controller.blackboard[BB_TEMPORARY_IGNORE_LIST]
 	for(var/atom/found_item in found)
-		if(LAZYACCESS(ignore_list, found_item))
+		if(LAZYACCESS(ignore_list, REF(found_item)))
+			continue
+		var/list/path = get_path_to(controller.pawn, found_item, max_distance = BOT_CLEAN_PATH_LIMIT, access = controller.get_access())
+		if(!length(path))
+			controller.set_blackboard_key_assoc_lazylist(BB_TEMPORARY_IGNORE_LIST, REF(found_item), TRUE)
 			continue
 		return found_item
 
@@ -84,7 +89,7 @@
 	var/mob/living/basic/bot/cleanbot/bot_pawn = controller.pawn
 	if(!(bot_pawn.bot_access_flags & BOT_COVER_EMAGGED))
 		return
-	if(controller.reachable_key(BB_ACID_SPRAY_TARGET, BOT_CLEAN_PATH_LIMIT))
+	if(controller.blackboard_key_exists(BB_ACID_SPRAY_TARGET))
 		controller.queue_behavior(/datum/ai_behavior/execute_clean, BB_ACID_SPRAY_TARGET)
 		return SUBTREE_RETURN_FINISH_PLANNING
 
@@ -97,7 +102,7 @@
 /datum/ai_behavior/find_and_set/spray_target/search_tactic(datum/ai_controller/controller, locate_path, search_range)
 	var/list/ignore_list = controller.blackboard[BB_TEMPORARY_IGNORE_LIST]
 	for(var/mob/living/carbon/human/human_target in oview(search_range, controller.pawn))
-		if(LAZYACCESS(ignore_list, human_target))
+		if(LAZYACCESS(ignore_list, REF(human_target)))
 			continue
 		if(human_target.stat != CONSCIOUS || isnull(human_target.mind))
 			continue
@@ -128,16 +133,20 @@
 	. = ..()
 	controller.set_blackboard_key(BB_POST_CLEAN_COOLDOWN, POST_CLEAN_COOLDOWN + world.time)
 	var/atom/target = controller.blackboard[target_key]
+	if(!succeeded && !isnull(target))
+		controller.clear_blackboard_key(target_key)
+		controller.set_blackboard_key_assoc_lazylist(BB_TEMPORARY_IGNORE_LIST, REF(target), TRUE)
+		return
 	if(QDELETED(target) || is_type_in_typecache(target, controller.blackboard[BB_HUNTABLE_TRASH]))
 		return
 	if(!iscarbon(target))
 		controller.clear_blackboard_key(target_key)
 		return
 	var/list/speech_list = controller.blackboard[BB_CLEANBOT_EMAGGED_PHRASES]
-	if(!length(speech_list))
-		return
-	var/mob/living/living_pawn = controller.pawn
-	living_pawn.say(pick(controller.blackboard[BB_CLEANBOT_EMAGGED_PHRASES]), forced = "ai controller")
+	if(length(speech_list))
+		var/mob/living/living_pawn = controller.pawn
+		if(!QDELETED(living_pawn)) // pawn can be null at this point
+			living_pawn.say(pick(speech_list), forced = "ai controller")
 	controller.clear_blackboard_key(target_key)
 
 /datum/ai_planning_subtree/use_mob_ability/foam_area
@@ -155,7 +164,7 @@
 /datum/ai_planning_subtree/befriend_janitors/SelectBehaviors(datum/ai_controller/basic_controller/bot/controller, seconds_per_tick)
 	var/mob/living/basic/bot/bot_pawn = controller.pawn
 	//we are now evil. dont befriend the janitors
-	if((bot_pawn.bot_access_flags & BOT_COVER_EMAGGED))
+	if(bot_pawn.bot_access_flags & BOT_COVER_EMAGGED)
 		return
 	if(controller.blackboard_key_exists(BB_FRIENDLY_JANITOR))
 		controller.queue_behavior(/datum/ai_behavior/befriend_target, BB_FRIENDLY_JANITOR, BB_FRIENDLY_MESSAGE)
@@ -198,12 +207,12 @@
 		return
 	if(isnull(parent.ai_controller))
 		return
-	if(LAZYACCESS(parent.ai_controller.blackboard[BB_TEMPORARY_IGNORE_LIST], target))
+	if(LAZYACCESS(parent.ai_controller.blackboard[BB_TEMPORARY_IGNORE_LIST], REF(target)))
 		return
 	return ..()
 
 /datum/pet_command/point_targeting/clean/execute_action(datum/ai_controller/basic_controller/bot/controller)
-	if(controller.reachable_key(BB_CURRENT_PET_TARGET))
+	if(controller.blackboard_key_exists(BB_CURRENT_PET_TARGET))
 		controller.queue_behavior(/datum/ai_behavior/execute_clean, BB_CURRENT_PET_TARGET)
 		return SUBTREE_RETURN_FINISH_PLANNING
 

code/modules/mob/living/basic/bots/hygienebot/hygienebot_ai.dm

@@ -1,4 +1,5 @@
 #define BOT_FRUSTRATION_LIMIT 8
+#define BOT_ANGER_THRESHOLD 5
 
 /datum/ai_controller/basic_controller/bot/hygienebot
 	blackboard = list(
@@ -128,7 +129,7 @@
 	var/datum/action/cooldown/bot_announcement/announcement = controller.blackboard[BB_ANNOUNCE_ABILITY]
 
 	if(succeeded)
-		if(controller.blackboard[BB_WASH_FRUSTRATION] > 0)
+		if(controller.blackboard[BB_WASH_FRUSTRATION] > BOT_ANGER_THRESHOLD)
 			announcement.announce(pick(controller.blackboard[BB_WASH_DONE]))
 		controller.clear_blackboard_key(target_key)
 		return
@@ -139,4 +140,5 @@
 	announcement.announce(pick(controller.blackboard[BB_WASH_THREATS]))
 	controller.set_blackboard_key(BB_WASH_FRUSTRATION, 0)
 
+#undef BOT_ANGER_THRESHOLD
 #undef BOT_FRUSTRATION_LIMIT