[MIRROR] Cleanbot fix (#5720)
* Cleanbot fix (#36003) cl selea fix: fixed floorbot fix: fixed cleanbot refactor: improved pathiding in case of given minimal distance;improved sanitation /cl closes #35995, #35919 * Cleanbot fix
This commit is contained in:
CitadelStationBot
committed by
Poojawa
Poojawa
parent
f38a3b3a39
commit
ff918707ee
+25
-24
@@ -87,8 +87,9 @@ Actual Adjacent procs :
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return path
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/proc/AStar(caller, var/turf/end, dist, maxnodes, maxnodedepth = 30, mintargetdist, adjacent = /turf/proc/reachableTurftest, id=null, turf/exclude=null, simulated_only = 1)
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/proc/AStar(caller, _end, dist, maxnodes, maxnodedepth = 30, mintargetdist, adjacent = /turf/proc/reachableTurftest, id=null, turf/exclude=null, simulated_only = 1)
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//sanitation
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var/turf/end = get_turf(_end)
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var/turf/start = get_turf(caller)
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if((!start)||(start.z != end.z)||(start == end)) //no pathfinding between z levels
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return 0
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@@ -112,9 +113,8 @@ Actual Adjacent procs :
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var/closeenough
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if(mintargetdist)
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closeenough = call(cur.source,dist)(end) <= mintargetdist
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//if too many steps, abandon that path
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if(maxnodedepth && (cur.nt > maxnodedepth))
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continue
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//found the target turf (or close enough), let's create the path to it
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if(cur.source == end || closeenough)
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path = new()
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@@ -124,27 +124,28 @@ Actual Adjacent procs :
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path.Add(cur.source)
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break
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//get adjacents turfs using the adjacent proc, checking for access with id
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for(var/i = 0 to 3)
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var/f= 1<<i //get cardinal directions.1,2,4,8
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if(cur.bf & f)
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var/T = get_step(cur.source,f)
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if(T != exclude)
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var/datum/PathNode/CN = openc[T] //current checking turf
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var/r=((f & MASK_ODD)<<1)|((f & MASK_EVEN)>>1) //getting reverse direction throught swapping even and odd bits.((f & 01010101)<<1)|((f & 10101010)>>1)
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var/newg = cur.g + call(cur.source,dist)(T)
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if(CN)
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//is already in open list, check if it's a better way from the current turf
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CN.bf &= 15^r //we have no closed, so just cut off exceed dir.00001111 ^ reverse_dir.We don't need to expand to checked turf.
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if(newg < CN.g)
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if((!maxnodedepth)||(cur.nt <= maxnodedepth))//if too many steps, don't process that path
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for(var/i = 0 to 3)
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var/f= 1<<i //get cardinal directions.1,2,4,8
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if(cur.bf & f)
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var/T = get_step(cur.source,f)
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if(T != exclude)
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var/datum/PathNode/CN = openc[T] //current checking turf
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var/r=((f & MASK_ODD)<<1)|((f & MASK_EVEN)>>1) //getting reverse direction throught swapping even and odd bits.((f & 01010101)<<1)|((f & 10101010)>>1)
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var/newg = cur.g + call(cur.source,dist)(T)
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if(CN)
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//is already in open list, check if it's a better way from the current turf
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CN.bf &= 15^r //we have no closed, so just cut off exceed dir.00001111 ^ reverse_dir.We don't need to expand to checked turf.
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if((newg < CN.g) )
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if(call(cur.source,adjacent)(caller, T, id, simulated_only))
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CN.setp(cur,newg,CN.h,cur.nt+1)
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open.ReSort(CN)//reorder the changed element in the list
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else
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//is not already in open list, so add it
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if(call(cur.source,adjacent)(caller, T, id, simulated_only))
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CN.setp(cur,newg,CN.h,cur.nt+1)
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open.ReSort(CN)//reorder the changed element in the list
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else
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//is not already in open list, so add it
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if(call(cur.source,adjacent)(caller, T, id, simulated_only))
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CN = new(T,cur,newg,call(T,dist)(end),cur.nt+1,15^r)
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open.Insert(CN)
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openc[T] = CN
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CN = new(T,cur,newg,call(T,dist)(end),cur.nt+1,15^r)
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open.Insert(CN)
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openc[T] = CN
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cur.bf = 0
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CHECK_TICK
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//reverse the path to get it from start to finish
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@@ -145,6 +145,12 @@
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mode = BOT_IDLE
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return
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if(loc == get_turf(target))
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if(!(check_bot(target) && prob(50))) //Target is not defined at the parent. 50% chance to still try and clean so we dont get stuck on the last blood drop.
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UnarmedAttack(target) //Rather than check at every step of the way, let's check before we do an action, so we can rescan before the other bot.
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else
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shuffle = TRUE //Shuffle the list the next time we scan so we dont both go the same way.
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path = list()
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if(!path || path.len == 0) //No path, need a new one
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//Try to produce a path to the target, and ignore airlocks to which it has access.
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path = get_path_to(src, target.loc, /turf/proc/Distance_cardinal, 0, 30, id=access_card)
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@@ -159,13 +165,6 @@
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mode = BOT_IDLE
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return
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if(target && loc == target.loc)
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if(!(check_bot(target) && prob(50))) //Target is not defined at the parent. 50% chance to still try and clean so we dont get stuck on the last blood drop.
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UnarmedAttack(target) //Rather than check at every step of the way, let's check before we do an action, so we can rescan before the other bot.
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else
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shuffle = TRUE //Shuffle the list the next time we scan so we dont both go the same way.
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path = list()
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oldloc = loc
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/mob/living/simple_animal/bot/cleanbot/proc/get_targets()
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@@ -224,24 +224,7 @@
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bot_patrol()
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if(target)
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if(path.len == 0)
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if(!isturf(target))
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var/turf/TL = get_turf(target)
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path = get_path_to(src, TL, /turf/proc/Distance_cardinal, 0, 30, id=access_card,simulated_only = 0)
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else
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path = get_path_to(src, target, /turf/proc/Distance_cardinal, 0, 30, id=access_card,simulated_only = 0)
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if(!bot_move(target))
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add_to_ignore(target)
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target = null
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mode = BOT_IDLE
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return
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else if( !bot_move(target) )
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target = null
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mode = BOT_IDLE
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return
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if(loc == target || loc == target.loc)
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if(loc == target || loc == get_turf(target))
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if(check_bot(target)) //Target is not defined at the parent
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shuffle = TRUE
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if(prob(50)) //50% chance to still try to repair so we dont end up with 2 floorbots failing to fix the last breach
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@@ -262,6 +245,24 @@
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target = null
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path = list()
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return
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if(path.len == 0)
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if(!isturf(target))
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var/turf/TL = get_turf(target)
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path = get_path_to(src, TL, /turf/proc/Distance_cardinal, 0, 30, id=access_card,simulated_only = 0)
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else
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path = get_path_to(src, target, /turf/proc/Distance_cardinal, 0, 30, id=access_card,simulated_only = 0)
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if(!bot_move(target))
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add_to_ignore(target)
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target = null
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mode = BOT_IDLE
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return
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else if( !bot_move(target) )
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target = null
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mode = BOT_IDLE
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return
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oldloc = loc
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