Fixes unpowered doors being ignored by AStar

Fixes avoid turf functionality
Makes mulebots only recalculate paths due to blockades only once per life tick.

code/game/machinery/doors/airlock.dm

@@ -1148,8 +1148,8 @@ About the new airlock wires panel:
 	update_icon()
 
 /obj/machinery/door/airlock/CanAStarPass(obj/item/weapon/card/id/ID)
-//Airlock is passable if it is open (!density), bot has access, and is not bolted shut)
-	return !density || (check_access(ID) && !locked)
+//Airlock is passable if it is open (!density), bot has access, and is not bolted shut or powered off)
+	return !density || (check_access(ID) && !locked && hasPower())
 
 /obj/machinery/door/airlock/HasProximity(atom/movable/AM as mob|obj)
 	for (var/obj/A in contents)

code/game/machinery/doors/windowdoor.dm

@@ -87,7 +87,7 @@
 
 //used in the AStar algorithm to determinate if the turf the door is on is passable
 /obj/machinery/door/window/CanAStarPass(obj/item/weapon/card/id/ID, to_dir)
-	return !density || (dir != to_dir) || check_access(ID)
+	return !density || (dir != to_dir) || (check_access(ID) && hasPower())
 
 /obj/machinery/door/window/CheckExit(atom/movable/mover as mob|obj, turf/target)
 	if(istype(mover) && mover.checkpass(PASSGLASS))

code/modules/mob/living/simple_animal/bot/mulebot.dm

@@ -515,7 +515,6 @@ mob/living/simple_animal/bot/mulebot/bot_reset()
 	if(refresh) update_controls()
 
 /mob/living/simple_animal/bot/mulebot/proc/process_bot()
-
 	if(!on)
 		return
 
@@ -582,13 +581,13 @@ mob/living/simple_animal/bot/mulebot/bot_reset()
 						if(blockcount > 10)	// attempt 10 times before recomputing
 							// find new path excluding blocked turf
 							buzz(SIGH)
-
-							spawn(2)
-								calc_path(next)
+							mode = BOT_WAIT_FOR_NAV
+							blockcount = 0
+							spawn(20)
+								calc_path(avoid=next)
 								if(path.len > 0)
 									buzz(DELIGHT)
 								mode = BOT_BLOCKED
-							mode = BOT_WAIT_FOR_NAV
 							return
 						return
 				else
@@ -622,7 +621,6 @@ mob/living/simple_animal/bot/mulebot/bot_reset()
 /mob/living/simple_animal/bot/mulebot/calc_path(turf/avoid = null)
 	path = get_path_to(loc, target, src, /turf/proc/Distance_cardinal, 0, 250, id=access_card, exclude=avoid)
 
-
 // sets the current destination
 // signals all beacons matching the delivery code
 // beacons will return a signal giving their locations

code/orphaned procs/AStar.dm

@@ -120,7 +120,7 @@ Actual Adjacent procs :
 		//get adjacents turfs using the adjacent proc, checking for access with id
 		var/list/L = call(cur.source,adjacent)(atom,id, simulated_only)
 		for(var/turf/T in L)
-			if(T == exclude || T in closed)
+			if(T == exclude || (T in closed))
 				continue
 
 			var/newg = cur.g + call(cur.source,dist)(T)