[MIRROR] [no gbp] fixes ai controller runtime (#26278)

* [no gbp] fixes ai controller runtime (#81134)

## About The Pull Request
fixes the flaky error that would happen in cleanbot controllers. i
discovered thru the profiler that a proc i was using to stop tracking
unreachable targets and caching them to a blacklist in selectbehavior
had a bit of a high real time cost, so if the mob got deleted midway
through for any reason would cause a runtime error. ive moved this proc
off selectbehavior and im instead letting the move loop cache this
target into the blacklist if it reaches the max pathing attempts
## Why It's Good For The Game
fixes a runtime that sometimes happens in ai controllers

## Changelog
🆑
fix: fixes a runtime that sometimes happens in ai controllers
/🆑

* [no gbp] fixes ai controller runtime

---------

Co-authored-by: Ben10Omintrix <138636438+Ben10Omintrix@users.noreply.github.com>

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
@@ -53,10 +54,12 @@
 		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)
@@ -69,34 +72,16 @@
 		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, bypass_add_to_blacklist = FALSE)
-	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)
-		if(!bypass_add_to_blacklist)
-			set_blackboard_key_assoc_lazylist(BB_TEMPORARY_IGNORE_LIST, REF(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)
 	. = ..()
@@ -104,8 +89,13 @@
 		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 +104,7 @@
 
 	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 +122,9 @@
 	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 +160,7 @@
 
 /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]
@@ -188,6 +179,7 @@
 
 /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

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
 
@@ -68,7 +69,7 @@
 	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 = 1 SECONDS
+	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)
@@ -76,6 +77,10 @@
 	for(var/atom/found_item in found)
 		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
 
 /datum/ai_planning_subtree/acid_spray
@@ -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
 
@@ -130,6 +135,10 @@
 	. = ..()
 	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))
@@ -208,7 +217,7 @@
 	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/medbot/medbot_ai.dm

@@ -7,7 +7,7 @@
 		/datum/ai_planning_subtree/find_and_hunt_target/patients_in_crit,
 		/datum/ai_planning_subtree/treat_wounded_target,
 		/datum/ai_planning_subtree/salute_authority,
-		/datum/ai_planning_subtree/find_patrol_beacon,
+		/datum/ai_planning_subtree/find_patrol_beacon/medbot,
 	)
 	ai_movement = /datum/ai_movement/jps/bot/medbot
 	reset_keys = list(
@@ -19,6 +19,8 @@
 	ai_traits = PAUSE_DURING_DO_AFTER
 
 /datum/ai_movement/jps/bot/medbot
+	maximum_length = BOT_PATIENT_PATH_LIMIT
+	max_pathing_attempts = 20
 
 // only AI isnt allowed to move when this flag is set, sentient players can
 /datum/ai_movement/jps/bot/medbot/allowed_to_move(datum/move_loop/source)
@@ -28,6 +30,9 @@
 		return FALSE
 	return ..()
 
+/datum/ai_movement/jps/bot/medbot/travel_to_beacon
+	maximum_length = AI_BOT_PATH_LENGTH
+
 
 /datum/ai_planning_subtree/treat_wounded_target
 
@@ -37,9 +42,8 @@
 		controller.clear_blackboard_key(BB_PATIENT_TARGET)
 		return
 	var/is_stationary = bot_pawn.medical_mode_flags & MEDBOT_STATIONARY_MODE
-	var/reach_distance = (is_stationary) ? 1 : BOT_PATIENT_PATH_LIMIT
-	if(controller.reachable_key(BB_PATIENT_TARGET, distance = reach_distance, bypass_add_to_blacklist = is_stationary))
-		controller.queue_behavior(/datum/ai_behavior/tend_to_patient, BB_PATIENT_TARGET, bot_pawn.heal_threshold, bot_pawn.damage_type_healer, bot_pawn.bot_access_flags)
+	if(controller.blackboard_key_exists(BB_PATIENT_TARGET))
+		controller.queue_behavior(/datum/ai_behavior/tend_to_patient, BB_PATIENT_TARGET, bot_pawn.heal_threshold, bot_pawn.damage_type_healer, bot_pawn.bot_access_flags, is_stationary)
 		return SUBTREE_RETURN_FINISH_PLANNING
 
 	controller.queue_behavior(/datum/ai_behavior/find_suitable_patient, BB_PATIENT_TARGET, bot_pawn.heal_threshold, bot_pawn.damage_type_healer, bot_pawn.medical_mode_flags, bot_pawn.bot_access_flags)
@@ -56,15 +60,15 @@
 		if(LAZYACCESS(ignore_keys, REF(treatable_target)) || treatable_target.stat == DEAD)
 			continue
 		if((access_flags & BOT_COVER_EMAGGED) && treatable_target.stat == CONSCIOUS)
-			controller.set_blackboard_key(BB_PATIENT_TARGET, treatable_target)
+			controller.set_if_can_reach(BB_PATIENT_TARGET, treatable_target, distance =BOT_PATIENT_PATH_LIMIT, bypass_add_to_blacklist = (search_range == 1))
 			break
 		if((heal_type == HEAL_ALL_DAMAGE))
 			if(treatable_target.get_total_damage() > threshold)
-				controller.set_blackboard_key(BB_PATIENT_TARGET, treatable_target)
+				controller.set_if_can_reach(BB_PATIENT_TARGET, treatable_target, distance = BOT_PATIENT_PATH_LIMIT, bypass_add_to_blacklist = (search_range == 1))
 				break
 			continue
 		if(treatable_target.get_current_damage_of_type(damagetype = heal_type) > threshold)
-			controller.set_blackboard_key(BB_PATIENT_TARGET, treatable_target)
+			controller.set_if_can_reach(BB_PATIENT_TARGET, treatable_target, distance = BOT_PATIENT_PATH_LIMIT, bypass_add_to_blacklist = (search_range == 1))
 			break
 
 	finish_action(controller, controller.blackboard_key_exists(BB_PATIENT_TARGET))
@@ -86,14 +90,14 @@
 		return FALSE
 	set_movement_target(controller, target)
 
-/datum/ai_behavior/tend_to_patient/perform(seconds_per_tick, datum/ai_controller/basic_controller/bot/controller, target_key, threshold, damage_type_healer, access_flags)
+/datum/ai_behavior/tend_to_patient/perform(seconds_per_tick, datum/ai_controller/basic_controller/bot/controller, target_key, threshold, damage_type_healer, access_flags, is_stationary)
 	. = ..()
 	var/mob/living/carbon/human/patient = controller.blackboard[target_key]
 	if(QDELETED(patient) || patient.stat == DEAD)
-		finish_action(controller, FALSE, target_key)
+		finish_action(controller, FALSE, target_key, is_stationary)
 		return
 	if(check_if_healed(patient, threshold, damage_type_healer, access_flags))
-		finish_action(controller, TRUE, target_key, healed_target = TRUE)
+		finish_action(controller, TRUE, target_key, is_stationary, healed_target = TRUE)
 		return
 
 	var/mob/living/basic/bot/bot_pawn = controller.pawn
@@ -101,16 +105,23 @@
 		var/datum/action/cooldown/bot_announcement/announcement = controller.blackboard[BB_ANNOUNCE_ABILITY]
 		announcement?.announce(pick(controller.blackboard[BB_NEAR_DEATH_SPEECH]))
 	bot_pawn.melee_attack(patient)
-	finish_action(controller, TRUE, target_key)
+	finish_action(controller, TRUE, target_key, is_stationary)
 
 // only clear the target if they get healed
-/datum/ai_behavior/tend_to_patient/finish_action(datum/ai_controller/controller, succeeded, target_key, healed_target = FALSE)
+/datum/ai_behavior/tend_to_patient/finish_action(datum/ai_controller/controller, succeeded, target_key, is_stationary, healed_target = FALSE)
 	. = ..()
-	if(!succeeded)
-		return
 	var/atom/target = controller.blackboard[target_key]
+	if(!succeeded)
+
+		if(!isnull(target) && !is_stationary)
+			controller.set_blackboard_key_assoc_lazylist(BB_TEMPORARY_IGNORE_LIST, REF(target), TRUE)
+
+		controller.clear_blackboard_key(target_key)
+		return
+
 	if(QDELETED(target) || !healed_target)
 		return
+
 	var/datum/action/cooldown/bot_announcement/announcement = controller.blackboard[BB_ANNOUNCE_ABILITY]
 	announcement?.announce(pick(controller.blackboard[BB_AFTERHEAL_SPEECH]))
 	controller.clear_blackboard_key(target_key)
@@ -208,4 +219,11 @@
 	. = ..()
 	controller.clear_blackboard_key(target_key)
 
+/datum/ai_planning_subtree/find_patrol_beacon/medbot
+	///travel towards beacon behavior
+	travel_behavior = /datum/ai_behavior/travel_towards/beacon/medbot
+
+/datum/ai_behavior/travel_towards/beacon/medbot
+	new_movement_type = /datum/ai_movement/jps/bot/medbot/travel_to_beacon
+
 #undef BOT_PATIENT_PATH_LIMIT