Now working

__DEFINES/setup.dm

@@ -1285,10 +1285,10 @@ var/default_colour_matrix = list(1,0,0,0,\
 //	null << "[x][a]")
 #endif
 
-#define ASTAR_DEBUG 1
+#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)
 #else
 #define astar_debug(text)
 #endif

code/controllers/subsystem/pathing.dm

@@ -140,13 +140,11 @@ var/global/list/pathmakers = list()
 	pathmakers.Remove(src)
 	//cleaning after us
 	for(var/PathNode/PN in open.L)
-		PN.source.PathNodes[PM_id] = null
-		PN.source.PathNodes.Remove("[PM_id]")
+		open.L -= PN
 		qdel(PN)
 	for(var/turf/T in closed)
 		var/PathNode/PN = T.FindPathNode(PM_id)
-		T.PathNodes[PM_id] = null
-		T.PathNodes.Remove("[PM_id]")
+		closed -= T
 		qdel(PN)
 	owner = null
 	start = null

code/defines/procs/AStar.dm

@@ -121,6 +121,7 @@ length to avoid portals or something i guess?? Not that they're counted right no
 	var/distance_from_end		//A* movement cost variable, how far it is from the end
 	var/distance_from_start		//A* heuristic variable, how far it is from the start
 	var/nodecount		//count the number of Nodes traversed
+	var/id
 
 /PathNode/New(s,p,ndistance_from_start,ndistance_from_end,pnt,id)
 	source = s
@@ -130,11 +131,14 @@ length to avoid portals or something i guess?? Not that they're counted right no
 	calc_f()
 	nodecount = pnt
 	source.AddPathNode(src, id)
+	src.id = id
 
 /PathNode/proc/calc_f()
 	total_node_cost = distance_from_start + distance_from_end
 
 /PathNode/Destroy()
+	source.PathNodes[id] = null
+	source.PathNodes.Remove(id)
 	source = null
 	prevNode = null
 	..()
@@ -144,11 +148,11 @@ length to avoid portals or something i guess?? Not that they're counted right no
 //////////////////////
 
 //the weighting function, used in the A* algorithm
-proc/PathWeightCompare(PathNode/a, PathNode/b)
+/proc/PathWeightCompare(PathNode/a, PathNode/b)
 	return a.total_node_cost - b.total_node_cost
 
 //search if there's a PathNode that points to turf T in the Priority Queue
-proc/SeekTurf(var/PriorityQueue/Queue, var/turf/T)
+/proc/SeekTurf(var/PriorityQueue/Queue, var/turf/T)
 	var/i = 1
 	var/PathNode/PN
 	while(i < Queue.L.len + 1)
@@ -223,6 +227,12 @@ proc/quick_AStar(start,end,adjacent,dist,maxnodes,maxnodedepth = 30,mintargetdis
 
 		//if too many steps, abandon that path
 		if(maxnodedepth && (cur.nodecount > maxnodedepth))
+			//cleanup
+			for(var/PathNode/PN in open.L)
+				qdel(PN)
+			for(var/turf/T in closed)
+				var/PathNode/PN = T.FindPathNode("unique_[reference]")
+				qdel(PN)
 			return list()
 
 		//found the target turf (or close enough), let's create the path to it
@@ -256,19 +266,20 @@ proc/quick_AStar(start,end,adjacent,dist,maxnodes,maxnodedepth = 30,mintargetdis
 					PNode.distance_from_start = newenddist
 					PNode.calc_f()
 					open.ReSort(PNode)//reorder the changed element in the list
-
 	}
 
 	//cleanup
 	for(var/PathNode/PN in open.L)
-		PN.source.PathNodes["unique_[reference]"] = null
-		PN.source.PathNodes.Remove("unique_[reference]")
 		qdel(PN)
 	for(var/turf/T in closed)
 		var/PathNode/PN = T.FindPathNode("unique_[reference]")
-		T.PathNodes["unique_[reference]"] = null
-		T.PathNodes.Remove("unique_[reference]")
 		qdel(PN)
+	for(var/turf/T in path)
+		var/PathNode/PN = T.FindPathNode("unique_[reference]")
+		qdel(PN)
+
+	open.L = null
+	closed = null
 
 	//if the path is longer than maxnodes, then don't return it
 	if(path && maxnodes && path.len > (maxnodes + 1))

code/game/machinery/bots/bots.dm

@@ -16,8 +16,8 @@
 #define BOT_OLDTARGET_FORGET_DEFAULT 100 //100*WaitMachinery
 
 #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_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]")
 #else
 #define log_astar_bot(text)
@@ -104,7 +104,7 @@
 	if(botcard)
 		qdel(botcard)
 		botcard = null
-	if (waiting_for_patrol)
+	if (waiting_for_patrol || waiting_for_path)
 		for (var/datum/path_maker/PM in pathmakers)
 			if (PM.owner == src)
 				qdel(PM)
@@ -296,6 +296,8 @@
 // After that, we signal the beacon where we are and they transmit a location.
 // The closet location is picked, and a path is calculated.
 /obj/machinery/bot/proc/find_patrol_path()
+	if (summoned)
+		return
 	if(waiting_for_patrol)
 		return
 	if(awaiting_beacon++)
@@ -465,8 +467,8 @@
 				target = null
 			else
 				summoned = TRUE
-				destination = signal.source.loc
-				target = signal.source.loc
+				destination = get_turf(signal.source)
+				target = get_turf(signal.source)
 			path = list()
 			patrol_path = list()
 			return 1
@@ -494,7 +496,9 @@
 		log_astar_bot("path is [path.len]")
 		return TRUE
 	waiting_for_path = 1
-	return AStar(src, proc_to_call, src.loc, target, /turf/proc/CardinalTurfsWithAccess, /turf/proc/Distance_cardinal, 0, max(10,get_dist(src,target)*3), id=botcard, exclude=avoid)
+	. = AStar(src, proc_to_call, src.loc, target, /turf/proc/CardinalTurfsWithAccess, /turf/proc/Distance_cardinal, 0, max(10,get_dist(src,target)*3), id=botcard, exclude=avoid)
+	if (!.)
+		waiting_for_path = 0
 
 /obj/machinery/bot/proc/calc_patrol_path(var/target, var/proc_to_call, var/turf/avoid = null)
 	ASSERT(target && proc_to_call)

code/game/machinery/bots/cleanbot.dm

@@ -202,7 +202,7 @@ text("<A href='?src=\ref[src];operation=oddbutton'>[src.oddbutton ? "Yes" : "No"
 	clean(target)
 	remove_oldtarget(target)
 	target = null
-	return TRUE
+	return ..()
 
 /obj/machinery/bot/cleanbot/proc/get_targets() //This seems slightly wasteful, but it will only be called approximately once every six rounds so whatever
 	blacklisted_targets = list()

code/game/machinery/bots/ed209bot.dm

@@ -210,7 +210,7 @@ Auto Patrol: []"},
 
 /obj/machinery/bot/ed209/kick_act(mob/living/H)
 	..()
-
+	summoned = FALSE // Anger
 	threatlevel = H.assess_threat(src)
 	threatlevel += PERP_LEVEL_ARREST_MORE
 

code/game/machinery/bots/floorbot.dm

@@ -235,6 +235,7 @@ var/global/list/floorbot_targets=list()
 	path = list()
 	floorbot_targets -= target
 	target = null
+	return ..()
 
 /obj/machinery/bot/floorbot/proc/checkforwork()
 	if(have_target())

code/game/machinery/bots/mulebot.dm

@@ -89,10 +89,6 @@ var/global/mulebot_count = 0
 	cell.maxcharge = 2000
 
 	spawn(5)	// must wait for map loading to finish
-		if(radio_controller)
-			radio_controller.add_object(src, control_freq, filter = RADIO_MULEBOT)
-			radio_controller.add_object(src, beacon_freq, filter = RADIO_NAVBEACONS)
-
 		mulebot_count += 1
 		if(!suffix)
 			suffix = "#[mulebot_count]"
@@ -568,7 +564,7 @@ var/global/mulebot_count = 0
 
 /obj/machinery/bot/mulebot/receive_signal(datum/signal/signal)
 	var/recv = signal.data["beacon"]
-	if(recv == new_destination)	// if the recvd beacon location matches the set destination, then we will navigate there
+	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]")
 		destination = new_destination
 		new_destination = ""

code/game/machinery/bots/secbot.dm

@@ -175,6 +175,7 @@ Auto Patrol: []"},
 	return !cuffing
 
 /obj/machinery/bot/secbot/proc/set_target(var/mob/M)
+	summoned = FALSE
 	target = M
 	steps_per = 3
 	//process_path()
@@ -309,7 +310,7 @@ Auto Patrol: []"},
 
 /obj/machinery/bot/secbot/return_status()
 	if (target)
-		return "Chasing prep"
+		return "On the move"
 	if (auto_patrol)
 		return "Patrolling"
 	return ..()

code/game/objects/items/devices/PDA/PDA.dm

@@ -1047,7 +1047,7 @@ var/global/list/obj/item/device/pda/PDAs = list()
 							<a href='?src=\ref[cartridge.radio];bot=\ref[mule];command=switch_power;user=\ref[usr]'>Turn [mule.on ? "off" : "on"] <br/>
 							<a href='?src=\ref[cartridge.radio];bot=\ref[mule];command=return_home;user=\ref[usr]'>Send home</a> <br/>
 							<a href='?src=\ref[cartridge.radio];bot=\ref[mule];command=[cartridge.saved_destination];user=\ref[usr]'>Send to:</a> <a href='?src=\ref[cartridge];change_destination=1'>[cartridge.saved_destination] - EDIT</a> <br/>
-							</li>>"}
+							</li>"}
 				dat += "</ul>"
 			if (PDA_MODE_BEEPSKY)
 				if (!istype(cartridge.radio, /obj/item/radio/integrated/signal/bot/beepsky))