basic bot path huds and medbot research (#126)

* basic bot path huds and medbot research (#80277)

this pr integrates the bot path huds to ai controllers and move loops to
allow basic bots to display their paths in the hud.
also closes #80280 and closes #80330

basic bots now can display their path on huds

:cl:
add: basic bots can now display their paths on huds
fix: medbots can research healing again
/:cl:

* Update cleanbot_ai.dm

---------

Co-authored-by: Ben10Omintrix <[email protected]>

code/__DEFINES/dcs/signals/signals_moveloop.dm

@@ -9,3 +9,5 @@
 #define COMSIG_MOVELOOP_POSTPROCESS "moveloop_postprocess"
 //from [/datum/move_loop/has_target/jps/recalculate_path] ():
 #define COMSIG_MOVELOOP_JPS_REPATH "moveloop_jps_repath"
+///from [/datum/move_loop/has_target/jps/on_finish_pathing]
+#define COMSIG_MOVELOOP_JPS_FINISHED_PATHING "moveloop_jps_finished_pathing"

code/controllers/subsystem/movement/movement_types.dm

@@ -323,6 +323,7 @@
 	turf/avoid,
 	skip_first,
 	subsystem,
+	diagonal_handling,
 	priority,
 	flags,
 	datum/extra_info,
@@ -343,6 +344,7 @@
 		simulated_only,
 		avoid,
 		skip_first,
+		diagonal_handling,
 		initial_path)
 
 /datum/move_loop/has_target/jps
@@ -360,6 +362,8 @@
 	var/turf/avoid
 	///Should we skip the first step? This is the tile we're currently on, which breaks some things
 	var/skip_first
+	///Whether we replace diagonal movements with cardinal movements or follow through with them
+	var/diagonal_handling
 	///A list for the path we're currently following
 	var/list/movement_path
 	///Cooldown for repathing, prevents spam
@@ -373,7 +377,7 @@
 	. = ..()
 	on_finish_callbacks += CALLBACK(src, PROC_REF(on_finish_pathing))
 
-/datum/move_loop/has_target/jps/setup(delay, timeout, atom/chasing, repath_delay, max_path_length, minimum_distance, list/access, simulated_only, turf/avoid, skip_first, list/initial_path)
+/datum/move_loop/has_target/jps/setup(delay, timeout, atom/chasing, repath_delay, max_path_length, minimum_distance, list/access, simulated_only, turf/avoid, skip_first, diagonal_handling, list/initial_path)
 	. = ..()
 	if(!.)
 		return
@@ -384,6 +388,7 @@
 	src.simulated_only = simulated_only
 	src.avoid = avoid
 	src.skip_first = skip_first
+	src.diagonal_handling = diagonal_handling
 	movement_path = initial_path?.Copy()
 
 /datum/move_loop/has_target/jps/compare_loops(datum/move_loop/loop_type, priority, flags, extra_info, delay, timeout, atom/chasing, repath_delay, max_path_length, minimum_distance, list/access, simulated_only, turf/avoid, skip_first, initial_path)
@@ -410,14 +415,15 @@
 	if(!COOLDOWN_FINISHED(src, repath_cooldown))
 		return
 	COOLDOWN_START(src, repath_cooldown, repath_delay)
-	if(SSpathfinder.pathfind(moving, target, max_path_length, minimum_distance, access, simulated_only, avoid, skip_first, on_finish = on_finish_callbacks))
+	if(SSpathfinder.pathfind(moving, target, max_path_length, minimum_distance, access, simulated_only, avoid, skip_first, diagonal_handling, on_finish = on_finish_callbacks))
 		is_pathing = TRUE
 		SEND_SIGNAL(src, COMSIG_MOVELOOP_JPS_REPATH)
 
 ///Called when a path has finished being created
 /datum/move_loop/has_target/jps/proc/on_finish_pathing(list/path)
 	movement_path = path
 	is_pathing = FALSE
+	SEND_SIGNAL(src, COMSIG_MOVELOOP_JPS_FINISHED_PATHING, path)
 
 /datum/move_loop/has_target/jps/move()
 	if(!length(movement_path))

code/datums/ai/movement/ai_movement_jps.dm

@@ -4,27 +4,32 @@
 /datum/ai_movement/jps
 	max_pathing_attempts = 20
 	var/maximum_length = AI_MAX_PATH_LENGTH
+	///how we deal with diagonal movement, whether we try to avoid them or follow through with them
+	var/diagonal_flags = DIAGONAL_REMOVE_CLUNKY
 
 /datum/ai_movement/jps/start_moving_towards(datum/ai_controller/controller, atom/current_movement_target, min_distance)
 	. = ..()
 	var/atom/movable/moving = controller.pawn
 	var/delay = controller.movement_delay
 
-	var/datum/move_loop/loop = SSmove_manager.jps_move(moving,
+	var/datum/move_loop/has_target/jps/loop = SSmove_manager.jps_move(moving,
 		current_movement_target,
 		delay,
 		repath_delay = 0.5 SECONDS,
 		max_path_length = maximum_length,
 		minimum_distance = controller.get_minimum_distance(),
 		access = controller.get_access(),
 		subsystem = SSai_movement,
+		diagonal_handling = diagonal_flags,
 		extra_info = controller,
 	)
 
 	RegisterSignal(loop, COMSIG_MOVELOOP_PREPROCESS_CHECK, PROC_REF(pre_move))
 	RegisterSignal(loop, COMSIG_MOVELOOP_POSTPROCESS, PROC_REF(post_move))
 	RegisterSignal(loop, COMSIG_MOVELOOP_JPS_REPATH, PROC_REF(repath_incoming))
 
+	return loop
+
 /datum/ai_movement/jps/proc/repath_incoming(datum/move_loop/has_target/jps/source)
 	SIGNAL_HANDLER
 	var/datum/ai_controller/controller = source.extra_info
@@ -35,3 +40,11 @@
 /datum/ai_movement/jps/bot
 	max_pathing_attempts = 25
 	maximum_length = AI_BOT_PATH_LENGTH
+	diagonal_flags = DIAGONAL_REMOVE_ALL
+
+/datum/ai_movement/jps/bot/start_moving_towards(datum/ai_controller/controller, atom/current_movement_target, min_distance)
+	var/datum/move_loop/loop = ..()
+	var/atom/our_pawn = controller.pawn
+	if(isnull(our_pawn))
+		return
+	our_pawn.RegisterSignal(loop, COMSIG_MOVELOOP_JPS_FINISHED_PATHING, TYPE_PROC_REF(/mob/living/basic/bot, generate_bot_path))

code/modules/mob/living/basic/bots/_bots.dm

@@ -69,6 +69,14 @@ GLOBAL_LIST_INIT(command_strings, list(
 	var/obj/item/card/id/access_card
 	///The trim type that will grant additional acces
 	var/datum/id_trim/additional_access
+	///file the path icon is stored in
+	var/path_image_icon = 'icons/mob/silicon/aibots.dmi'
+	///state of the path icon
+	var/path_image_icon_state = "path_indicator"
+	///what color this path icon will use
+	var/path_image_color = "#FFFFFF"
+	///list of all layed path icons
+	var/list/current_pathed_turfs = list()
 
 	///The type of data HUD the bot uses. Diagnostic by default.
 	var/data_hud_type = DATA_HUD_DIAGNOSTIC_BASIC
@@ -91,8 +99,9 @@ GLOBAL_LIST_INIT(command_strings, list(
 
 /mob/living/basic/bot/Initialize(mapload)
 	. = ..()
-	AddElement(/datum/element/relay_attackers)
 
+	AddElement(/datum/element/relay_attackers)
+	RegisterSignal(src, COMSIG_MOVABLE_MOVED, PROC_REF(handle_loop_movement))
 	RegisterSignal(src, COMSIG_ATOM_WAS_ATTACKED, PROC_REF(after_attacked))
 	RegisterSignal(src, COMSIG_MOB_TRIED_ACCESS, PROC_REF(attempt_access))
 	ADD_TRAIT(src, TRAIT_NO_GLIDE, INNATE_TRAIT)
@@ -185,6 +194,7 @@ GLOBAL_LIST_INIT(command_strings, list(
 /mob/living/basic/bot/Destroy()
 	GLOB.bots_list -= src
 	calling_ai_ref = null
+	clear_path_hud()
 	QDEL_NULL(paicard)
 	QDEL_NULL(pa_system)
 	QDEL_NULL(internal_radio)
@@ -261,10 +271,10 @@ GLOBAL_LIST_INIT(command_strings, list(
 	fully_replace_character_name(real_name, new_name)
 
 /mob/living/basic/bot/proc/check_access(mob/living/user, obj/item/card/id)
-	if(!istype(user)) // Non-living mobs shouldn't be manipulating bots (like observes using the botkeeper UI).
-		return FALSE
 	if(user.has_unlimited_silicon_privilege || isAdminGhostAI(user)) // Silicon and Admins always have access.
 		return TRUE
+	if(!istype(user)) // Non-living mobs shouldn't be manipulating bots (like observes using the botkeeper UI).
+		return FALSE
 	if(!length(maints_access_required)) // No requirements to access it.
 		return TRUE
 	if(bot_access_flags & BOT_CONTROL_PANEL_OPEN) // Unlocked.
@@ -540,6 +550,7 @@ GLOBAL_LIST_INIT(command_strings, list(
 		access_card.set_access(initial_access)
 	diag_hud_set_botstat()
 	diag_hud_set_botmode()
+	clear_path_hud()
 	if(bypass_ai_reset || isnull(calling_ai_ref))
 		return
 	var/mob/living/ai_caller = calling_ai_ref.resolve()
@@ -593,9 +604,9 @@ GLOBAL_LIST_INIT(command_strings, list(
 // Actions received from TGUI
 /mob/living/basic/bot/ui_act(action, list/params, datum/tgui/ui, datum/ui_state/state)
 	. = ..()
-	if(. || !isliving(ui.user))
+	if(.)
 		return
-	var/mob/living/the_user = ui.user
+	var/mob/the_user = ui.user
 	if(!check_access(the_user))
 		balloon_alert(the_user, "access denied!")
 		return
@@ -747,6 +758,7 @@ GLOBAL_LIST_INIT(command_strings, list(
 	speed = 2
 
 	diag_hud_set_botmode()
+	clear_path_hud()
 
 /mob/living/basic/bot/Logout()
 	. = ..()

code/modules/mob/living/basic/bots/bot_hud.dm

@@ -37,3 +37,81 @@
 			holder.icon_state = "hudmove"
 		else
 			holder.icon_state = ""
+
+///proc that handles drawing and transforming the bot's path onto diagnostic huds
+/mob/living/basic/bot/proc/generate_bot_path(datum/move_loop/has_target/jps/source)
+	SIGNAL_HANDLER
+
+	UnregisterSignal(src, COMSIG_MOVELOOP_JPS_FINISHED_PATHING)
+
+	if(isnull(ai_controller))
+		return
+
+	clear_path_hud()
+
+	var/list/path_images = active_hud_list[DIAG_PATH_HUD]
+	QDEL_LIST(path_images)
+
+	var/list/path_huds_watching_me = list(GLOB.huds[DATA_HUD_DIAGNOSTIC_ADVANCED])
+
+	var/atom/move_target = ai_controller.current_movement_target
+	if(move_target != ai_controller.blackboard[BB_BEACON_TARGET])
+		return
+
+	var/list/our_path = source.movement_path
+	if(!length(our_path))
+		return
+
+	for(var/datum/atom_hud/hud as anything in path_huds_watching_me)
+		hud.remove_atom_from_hud(src)
+
+	for(var/index in 1 to our_path.len)
+		if(index == 1 || index == our_path.len)
+			continue
+		var/turf/current_turf = our_path[index]
+		var/turf/previous_turf = our_path[index - 1]
+
+		var/turf/next_turf = our_path[index + 1]
+		var/next_direction = get_dir(previous_turf, next_turf)
+		var/previous_direction = get_dir(current_turf, previous_turf)
+
+		var/image/path_display = image(icon = path_image_icon, loc = current_turf, icon_state = path_image_icon_state, layer = GAME_PLANE, dir = next_direction)
+
+		if((ISDIAGONALDIR(next_direction) && (previous_direction & (NORTH|SOUTH))))
+			var/turn_value = (next_direction == SOUTHWEST || next_direction == NORTHEAST) ? 90 : -90
+			path_display.transform = path_display.transform.Turn(turn_value)
+			path_display.transform = path_display.transform.Scale(1, -1)
+
+		path_display.color = path_image_color
+		path_images += path_display
+		current_pathed_turfs[current_turf] = path_display
+
+	for(var/datum/atom_hud/hud as anything in path_huds_watching_me)
+		hud.add_atom_to_hud(src)
+
+///proc that handles moving along the bot's drawn path
+/mob/living/basic/bot/proc/handle_loop_movement(atom/movable/source)
+	SIGNAL_HANDLER
+
+	if(client || !length(current_pathed_turfs) || isnull(ai_controller))
+		return
+
+	var/atom/move_target = ai_controller.current_movement_target
+
+	if(move_target != ai_controller.blackboard[BB_BEACON_TARGET])
+		clear_path_hud()
+
+	var/turf/our_turf = get_turf(src)
+	var/image/target_image = current_pathed_turfs[our_turf]
+	if(target_image)
+		animate(target_image, alpha = 0, time = 0.3 SECONDS)
+	current_pathed_turfs -= our_turf
+	return
+
+///proc that handles deleting the bot's drawn path when needed
+/mob/living/basic/bot/proc/clear_path_hud()
+	for(var/turf/index as anything in current_pathed_turfs)
+		var/image/our_image = current_pathed_turfs[index]
+		animate(our_image, alpha = 0, time = 0.3 SECONDS)
+		current_pathed_turfs -= index
+

code/modules/mob/living/basic/bots/cleanbot/cleanbot.dm

@@ -19,6 +19,7 @@
 	additional_access = /datum/id_trim/job/janitor
 	possessed_message = "You are a cleanbot! Clean the station to the best of your ability!"
 	ai_controller = /datum/ai_controller/basic_controller/bot/cleanbot
+	path_image_color = "#993299"
 	///the bucket used to build us.
 	var/obj/item/reagent_containers/cup/bucket/build_bucket
 	///Flags indicating what kind of cleanables we should scan for to set as our target to clean.

code/modules/mob/living/basic/bots/cleanbot/cleanbot_ai.dm

@@ -21,7 +21,7 @@
 		/datum/ai_planning_subtree/acid_spray,
 		/datum/ai_planning_subtree/use_mob_ability/foam_area,
 		/datum/ai_planning_subtree/salute_authority,
-		/datum/ai_planning_subtree/find_patrol_beacon,
+		/datum/ai_planning_subtree/find_patrol_beacon/cleanbot,
 	)
 	reset_keys = list(
 		BB_ACTIVE_PET_COMMAND,
@@ -37,6 +37,7 @@
 		BB_CLEANABLE_DRAWINGS = CLEANBOT_CLEAN_DRAWINGS,
 		BB_HUNTABLE_TRASH = CLEANBOT_CLEAN_TRASH,
 	)
+	ai_traits = PAUSE_DURING_DO_AFTER
 
 /datum/ai_planning_subtree/pet_planning/cleanbot/SelectBehaviors(datum/ai_controller/basic_controller/bot/controller, seconds_per_tick)
 	var/mob/living/basic/bot/bot_pawn = controller.pawn
@@ -53,23 +54,20 @@
 /datum/ai_planning_subtree/cleaning_subtree
 
 /datum/ai_planning_subtree/cleaning_subtree/SelectBehaviors(datum/ai_controller/basic_controller/bot/cleanbot/controller, seconds_per_tick)
-	var/mob/living/basic/bot/cleanbot/bot_pawn = controller.pawn
 	// NOVA EDIT ADDITION START - TODO - Remove when cleanbot AI runtimes are fixed
-	if(QDELETED(bot_pawn))
+	if(QDELETED(controller.pawn))
 		return SUBTREE_RETURN_FINISH_PLANNING
 	// NOVA EDIT ADDITION END
-
-	if(LAZYLEN(bot_pawn.do_afters))
-		return SUBTREE_RETURN_FINISH_PLANNING
-
 	if(controller.reachable_key(BB_CLEAN_TARGET, BOT_CLEAN_PATH_LIMIT))
+		controller.clear_blackboard_key(BB_BEACON_TARGET)
 		controller.queue_behavior(/datum/ai_behavior/execute_clean, BB_CLEAN_TARGET)
 		return SUBTREE_RETURN_FINISH_PLANNING
 
 	var/list/final_hunt_list = list()
 
 	final_hunt_list += controller.blackboard[BB_CLEANABLE_DECALS]
 	var/list/flag_list = controller.clean_flags
+	var/mob/living/basic/bot/cleanbot/bot_pawn = controller.pawn
 	for(var/list_key in flag_list)
 		if(!(bot_pawn.janitor_mode_flags & flag_list[list_key]))
 			continue
@@ -78,7 +76,7 @@
 	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 = 2 SECONDS
+	action_cooldown = 1 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)
@@ -205,6 +203,13 @@
 		return human_target
 	return null
 
+/datum/ai_planning_subtree/find_patrol_beacon/cleanbot
+
+/datum/ai_planning_subtree/find_patrol_beacon/cleanbot/SelectBehaviors(datum/ai_controller/basic_controller/bot/controller, seconds_per_tick)
+	if(controller.blackboard_key_exists(BB_CLEAN_TARGET))
+		return
+	return ..()
+
 /datum/pet_command/point_targeting/clean
 	command_name = "Clean"
 	command_desc = "Command a cleanbot to clean the mess."

code/modules/mob/living/basic/bots/medbot/medbot.dm

@@ -25,6 +25,7 @@
 
 	additional_access = /datum/id_trim/job/paramedic
 	announcement_type = /datum/action/cooldown/bot_announcement/medbot
+	path_image_color = "#d9d9f4"
 
 	///anouncements when we find a target to heal
 	var/static/list/wait_announcements = list(
@@ -146,8 +147,10 @@
 	)
 
 	RegisterSignal(src, COMSIG_HOSTILE_PRE_ATTACKINGTARGET, PROC_REF(pre_attack))
+
 	if(!HAS_TRAIT(SSstation, STATION_TRAIT_MEDBOT_MANIA) || !mapload || !is_station_level(z))
-		return
+		return INITIALIZE_HINT_LATELOAD
+
 	skin = "advanced"
 	update_appearance(UPDATE_OVERLAYS)
 	damage_type_healer = HEAL_ALL_DAMAGE

code/modules/mob/living/basic/bots/medbot/medbot_ai.dm

@@ -192,15 +192,15 @@
 	. = ..()
 	var/mob/living/living_target = controller.blackboard[target_key]
 	if(QDELETED(living_target))
-		finish_action(controller, FALSE)
+		finish_action(controller, FALSE, target_key)
 		return
 	var/datum/action/cooldown/bot_announcement/announcement = controller.blackboard[BB_ANNOUNCE_ABILITY]
 	if(QDELETED(announcement))
-		finish_action(controller, FALSE)
+		finish_action(controller, FALSE, target_key)
 		return
 	var/text_to_announce = "Medical emergency! [living_target] is in critical condition at [get_area(living_target)]!"
 	announcement.announce(text_to_announce, controller.blackboard[BB_RADIO_CHANNEL])
-	finish_action(controller, TRUE)
+	finish_action(controller, TRUE, target_key)
 
 /datum/ai_behavior/announce_patient/finish_action(datum/ai_controller/controller, succeeded, target_key)
 	. = ..()