Should fix most issues with bots. (#33647)

* Hurray!

* oops

* debug shit

__DEFINES/setup.dm

@@ -1321,9 +1321,11 @@ var/default_colour_matrix = list(1,0,0,0,\
 #define ASTAR_DEBUG 0
 #if ASTAR_DEBUG == 1
 #warn "Astar debug is on. Don't forget to turn it off after you've done :)"
-#define astar_debug(text) to_chat(world, text)
+#define astar_debug(text) //to_chat(world, text)
+#define astar_debug_mulebots(text) to_chat(world, text)
 #else
 #define astar_debug(text)
+#define astar_debug_mulebots(text)
 #endif
 
 #define BSQL_DEBUG_CONNECTION 0
@@ -1842,4 +1844,4 @@ var/list/weekend_days = list("Friday", "Saturday", "Sunday")
 #define COOKVESSEL_CONTAINS_CONTENTS (1<<1)	//The cooking vessel contains non-reagent contents (eg. items)
 
 //Default cooking temperature
-#define COOKTEMP_DEFAULT T0C + 316 //Around 600 F
+#define COOKTEMP_DEFAULT T0C + 316 //Around 600 F

code/game/machinery/bots/bots.dm

@@ -11,8 +11,8 @@
 
 #if ASTAR_DEBUG == 1
 #define log_astar_bot(text) visible_message("[src] : [text]")
-#define log_astar_beacon(text) to_chat(world, "[src] : [text]")
-#define log_astar_command(text) to_chat(world, "[src] : [text]")
+#define log_astar_beacon(text) //to_chat(world, "[src] : [text]")
+#define log_astar_command(text) //to_chat(world, "[src] : [text]")
 #else
 #define log_astar_bot(text)
 #define log_astar_beacon(text)
@@ -74,7 +74,7 @@
 
 	var/summoned = FALSE // Were they summoned?
 
-	var/commanding_radio = /obj/item/radio/integrated/signal/bot
+	var/commanding_radios = list(/obj/item/radio/integrated/signal/bot)
 
 	// Queue of directions. Just like shift-clicking on age of empires 2. It'll go to the next direction after it's finished with this one
 	// It's a list of lists. These lists are coordinates
@@ -364,10 +364,11 @@
 // However, it just says, "i'm a bot looking for a beacon named [new_dest]"
 // Only [new_dest], if it exist, replies with its location.
 /obj/machinery/bot/proc/set_destination(var/new_dest)
-	log_astar_beacon("new_destination [new_dest]")
-	new_destination = new_dest
-	post_signal(beacon_freq, "findbeacon", "patrol")
-	awaiting_beacon = 1
+	if (new_dest)
+		log_astar_beacon("new_destination [new_dest]")
+		new_destination = new_dest
+		post_signal(beacon_freq, "findbeacon", "patrol")
+		awaiting_beacon = 1
 
 // Proc called when we reached our patrol destination.
 // Normal behaviour is to null the current target and find a new one.
@@ -477,9 +478,9 @@
 
 // -- Received an order via signal. This proc assumes the bot is the correct one to get the command.
 /obj/machinery/bot/proc/execute_signal_command(var/datum/signal/signal, var/command)
-	log_astar_command("received command [command]")
-	if (!istype(signal.source, commanding_radio))
-		log_astar_command("refused command [command], wrong radio type")
+	log_astar_command("recieved command [command]")
+	if (!is_type_in_list(signal.source, commanding_radios))
+		log_astar_command("refused command [command], wrong radio type. Expected [english_list(commanding_radios, and_text = " or ")] got [signal.source.type]")
 		return TRUE
 	switch (command)
 		if ("auto_patrol")
@@ -548,7 +549,7 @@
 /obj/machinery/bot/proc/calc_path(var/target, var/callback, var/turf/avoid = null)
 	ASSERT(target && callback)
 	var/cardinal_proc = bot_flags & BOT_SPACEWORTHY ? /turf/proc/AdjacentTurfsSpace : /turf/proc/CardinalTurfsWithAccess
-	if ((get_dist(src, target) < 13) && !(bot_flags & BOT_NOT_CHASING)) // For beepers and ED209
+	if (((get_dist(src, target) < 13) && !(bot_flags & BOT_NOT_CHASING)) || (get_dist(src, target) < 6)) // For beepers and ED209
 		// IMPORTANT: Quick AStar only takes TURFS as arguments.
 		log_astar_bot("quick astar path calculation...")
 		path = quick_AStar(src.loc, get_turf(target), cardinal_proc, /turf/proc/Distance_cardinal, 0, max(10,get_dist(src,target)*3), id=botcard, exclude=avoid, reference="\ref[src]")

code/game/machinery/bots/cleanbot.dm

@@ -41,7 +41,7 @@
 	var/attackcooldown = 5 SECONDS // for admin cancer
 	locked = FALSE
 	can_take_pai = TRUE
-	commanding_radio = /obj/item/radio/integrated/signal/bot/janitor
+	commanding_radios = list(/obj/item/radio/integrated/signal/bot/janitor)
 
 /obj/machinery/bot/cleanbot/New()
 	..()

code/game/machinery/bots/ed209bot.dm

@@ -45,7 +45,7 @@
 		)
 
 	target_chasing_distance = 12
-	commanding_radio = /obj/item/radio/integrated/signal/bot/beepsky
+	commanding_radios = list(/obj/item/radio/integrated/signal/bot/beepsky)
 
 /obj/item/weapon/ed209_assembly
 	name = "ED-209 assembly"

code/game/machinery/bots/floorbot.dm

@@ -53,7 +53,7 @@ var/global/list/floorbot_targets=list()
 	var/targetdirection
 	beacon_freq = 1445		// navigation beacon frequency
 	var/skin = null
-	commanding_radio = /obj/item/radio/integrated/signal/bot/floorbot
+	commanding_radios = list(/obj/item/radio/integrated/signal/bot/floorbot)
 
 /obj/machinery/bot/floorbot/New()
 	. = ..()

code/game/machinery/bots/medbot.dm

@@ -62,7 +62,7 @@ var/list/firstaid_exceptions = list(
 	var/last_spoke = 0
 
 	bot_type = MED_BOT
-	commanding_radio = /obj/item/radio/integrated/signal/bot/medbot
+	commanding_radios = list(/obj/item/radio/integrated/signal/bot/medbot)
 
 /obj/machinery/bot/medbot/splashable()
 	return FALSE

code/game/machinery/bots/mulebot.dm

@@ -5,7 +5,7 @@
  * Remote Controlled from QM's PDA
  *
  * Hello, the path algorithm now uses
- *
+ * NOW USES WHAT??? UH???? UH????
  *
  *
  *
@@ -78,7 +78,11 @@ var/global/mulebot_count = 0
 	var/run_over_cooldown = 3 SECONDS	//how often a pAI-controlled MULEbot can damage a mob by running over them
 	var/coolingdown = FALSE
 
-	commanding_radio = /obj/item/radio/integrated/signal/bot/mule
+	// Technically if we were true to form, the navbeacon should've an insider radio which would be sending the signal rather than sending the signal itself
+	// The gain in functionality if it were to be implented is negligeble for a lot of confusing code
+	// Maybe I will implement it in a saner one day.
+	// https://www.youtube.com/watch?v=w_yPZfHJSaY
+	commanding_radios = list(/obj/item/radio/integrated/signal/bot/mule, /obj/machinery/navbeacon, /obj/machinery/bot/mulebot)
 
 	var/datum/bot/order/mule/current_order // where we're going and what we have to do once we arrive to destination
 
@@ -303,8 +307,12 @@ var/global/mulebot_count = 0
 	switch (command)
 		if ("return_home")
 			start_home()
+		if ("") // empty
+			astar_debug_mulebots("Empty command")
+			return
 		else // It's a new destination !
-			set_destination(command)
+			astar_debug_mulebots("New destination started: [command]")
+			start()
 
 // returns the wire panel text
 /obj/machinery/bot/mulebot/proc/wires()
@@ -589,14 +597,15 @@ var/global/mulebot_count = 0
 
 // starts bot moving to current destination
 /obj/machinery/bot/mulebot/proc/start()
+	astar_debug_mulebots("Moving out toward [destination]")
 	if(destination == home_destination)
 		mode = MODE_RETURNING
 	else
 		mode = MODE_MOVING
 	icon_state = "[icon_initial][(wires.MobAvoid() != 0)]"
 
 /obj/machinery/bot/mulebot/set_destination(var/new_dest)
-	log_astar_beacon("new_destination [new_dest]")
+	astar_debug_mulebots("new_destination is now [new_dest]")
 	new_destination = new_dest
 	request_path(new_dest)
 
@@ -606,15 +615,16 @@ var/global/mulebot_count = 0
 	signal.source = src
 	signal.transmission_method = 1
 	var/list/keyval = list(
-		"findbeacon" = new_dest
+		"findbeacon" = new_dest,
 	)
 	signal.data = keyval
 	frequency.post_signal(src, signal, filter = RADIO_NAVBEACONS)
+	astar_debug_mulebots("requesting path on freq [frequency.frequency]")
 
 /obj/machinery/bot/mulebot/receive_signal(datum/signal/signal)
 	var/recv = signal.data["beacon"]
 	if(recv && recv == new_destination)	// if the recvd beacon location matches the set destination, then we will navigate there
-		log_astar_beacon("new destination chosen, [recv]")
+		astar_debug_mulebots("new destination recieved and acknoweldged from navbeacons, [recv]")
 		destination = new_destination
 		new_destination = ""
 		target = signal.source.loc
@@ -827,6 +837,7 @@ var/global/mulebot_count = 0
 	qdel(src)
 
 /obj/machinery/bot/mulebot/process_pathing()
+	astar_debug_mulebots("process_pathing mulebot")
 	if(path.len)
 		set_glide_size(DELAY2GLIDESIZE(SS_WAIT_BOTS/steps_per))
 		if(!process_astar_path()) // either end of path or couldn't move
@@ -845,13 +856,18 @@ var/global/mulebot_count = 0
 				return
 		spawn(SS_WAIT_BOTS/steps_per)
 			process_pathing()
-	else if(destinations_queue.len)
-		current_order = shift(destinations_queue)
-		var/stop_a_tile_before = current_order.thing_to_load != null
-		path = get_path_to(src, current_order.destination, 30, stop_a_tile_before, botcard)
-		if(path.len)
-			bots_list.Remove(src)
-			process_pathing()
+	else
+		if (destination && !(destinations_queue.len))
+			var/datum/bot/order/mule/new_order = new(get_turf(target), null, FALSE)
+			destinations_queue.Add(new_order)
+		if(destinations_queue.len)
+			astar_debug_mulebots("destination_queue non empty")
+			current_order = shift(destinations_queue)
+			var/stop_a_tile_before = current_order.thing_to_load != null
+			path = get_path_to(src, current_order.destination, 30, stop_a_tile_before, botcard)
+			if(path.len)
+				bots_list.Remove(src)
+				process_pathing()
 
 /obj/machinery/bot/mulebot/process_astar_path()
 	if(gcDestroyed)

code/game/machinery/bots/secbot.dm

@@ -48,7 +48,7 @@
 	var/baton_type = /obj/item/weapon/melee/baton/
 	var/secbot_assembly_type = /obj/item/weapon/secbot_assembly/
 
-	commanding_radio = /obj/item/radio/integrated/signal/bot/beepsky
+	commanding_radios = list(/obj/item/radio/integrated/signal/bot/beepsky, /obj/machinery/navbeacon)
 
 	hack_abilities = list(
 		/datum/malfhack_ability/oneuse/emag,

code/game/machinery/navbeacon.dm

@@ -90,11 +90,12 @@ var/list/navbeacons = list()
 	var/request = signal.data["findbeacon"]
 	if(request && ((request in codes) || request == "any" || request == location))
 		spawn(1)
+			astar_debug_mulebots("navbeacons accepted request [request] and posted its own location")
 			post_signal(request)
 
 	// return a signal giving location and transponder codes
 
-/obj/machinery/navbeacon/proc/post_signal(request)
+/obj/machinery/navbeacon/proc/post_signal(request, var/mulebot_signal = FALSE)
 	var/datum/radio_frequency/frequency = radio_controller.return_frequency(freq)
 	if(!frequency)
 		return
@@ -110,7 +111,8 @@ var/list/navbeacons = list()
 	for(var/key in codes)
 		signal.data[key] = codes[key]
 
-	astar_debug("navbeacon [location] posted signal with request [request] on freq [freq].")
+	astar_debug_mulebots("navbeacon [location] posted signal with request [request] on freq [freq].")
+
 	frequency.post_signal(src, signal, filter = RADIO_NAVBEACONS)
 
 /obj/machinery/navbeacon/attackby(var/obj/item/I, var/mob/user)