source/libr2c2/trainrouteplanner.cpp

   1 #include <msp/core/maputils.h>
   2 #include <msp/time/utils.h>
   3 #include "catalogue.h"
   4 #include "layout.h"
   5 #include "route.h"
   6 #include "train.h"
   7 #include "trainroutemetric.h"
   8 #include "trainrouteplanner.h"
   9 #include "trainrouter.h"
  10 #include "vehicle.h"
  11
  12 using namespace std;
  13 using namespace Msp;
  14
  15 namespace R2C2 {
  16
  17 TrainRoutePlanner::TrainRoutePlanner(Layout &layout):
  18         goal(0),
  19         timeout(10*Time::sec),
  20         result(PENDING),
  21         thread(0)
  22 {
  23         const map<unsigned, Train *> &trains = layout.get_trains();
  24         for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
  25         {
  26                 TrainRoutingInfo info(*i->second);
  27                 if(!info.waypoints.empty())
  28                         routed_trains.push_back(info);
  29         }
  30 }
  31
  32 TrainRoutePlanner::~TrainRoutePlanner()
  33 {
  34         if(thread)
  35         {
  36                 thread->join();
  37                 delete thread;
  38         }
  39 }
  40
  41 void TrainRoutePlanner::set_timeout(const Time::TimeDelta &t)
  42 {
  43         timeout = t;
  44 }
  45
  46 TrainRoutePlanner::Result TrainRoutePlanner::plan()
  47 {
  48         prepare_plan();
  49         create_plan();
  50         if(result==PENDING)
  51                 finalize_plan();
  52
  53         return result;
  54 }
  55
  56 void TrainRoutePlanner::plan_async()
  57 {
  58         if(thread)
  59                 throw logic_error("already planning");
  60
  61         prepare_plan();
  62         thread = new PlanningThread(*this);
  63 }
  64
  65 TrainRoutePlanner::Result TrainRoutePlanner::check()
  66 {
  67         if(result==PENDING && goal)
  68         {
  69                 if(thread)
  70                 {
  71                         thread->join();
  72                         delete thread;
  73                         thread = 0;
  74                 }
  75                 finalize_plan();
  76         }
  77
  78         return result;
  79 }
  80
  81 const list<Route *> &TrainRoutePlanner::get_routes_for(const Train &train) const
  82 {
  83         return get_train_info(train).routes;
  84 }
  85
  86 const list<TrainRouter::SequencePoint> &TrainRoutePlanner::get_sequence_for(const Train &train) const
  87 {
  88         return get_train_info(train).sequence;
  89 }
  90
  91 const TrainRoutePlanner::TrainRoutingInfo &TrainRoutePlanner::get_train_info(const Train &train) const
  92 {
  93         for(vector<TrainRoutingInfo>::const_iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
  94                 if(i->train==&train)
  95                         return *i;
  96
  97         throw key_error(train.get_name());
  98 }
  99
 100 const TrainRoutePlanner::RoutingStep &TrainRoutePlanner::get_step()
 101 {
 102         steps.splice(steps.end(), queue, queue.begin());
 103         return steps.back();
 104 }
 105
 106 void TrainRoutePlanner::prepare_plan()
 107 {
 108         steps.clear();
 109         queue.clear();
 110         goal = 0;
 111         result = PENDING;
 112
 113         queue.push_back(RoutingStep());
 114         RoutingStep &start = queue.back();
 115         for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
 116                 start.trains.push_back(TrainRoutingState(*i));
 117         start.update_estimate();
 118 }
 119
 120 void TrainRoutePlanner::create_plan()
 121 {
 122         Time::TimeStamp timeout_stamp = Time::now()+timeout;
 123         unsigned count = 0;
 124         while(!queue.empty())
 125         {
 126                 const RoutingStep &step = get_step();
 127                 if(step.is_goal())
 128                 {
 129                         goal = &step;
 130                         return;
 131                 }
 132
 133                 add_steps(step);
 134
 135                 if(++count>=1000)
 136                 {
 137                         if(Time::now()>timeout_stamp)
 138                                 break;
 139                         count = 0;
 140                 }
 141         }
 142
 143         result = FAILED;
 144 }
 145
 146 void TrainRoutePlanner::add_steps(const RoutingStep &step)
 147 {
 148         list<RoutingStep> new_steps;
 149         step.create_successors(new_steps);
 150         new_steps.sort();
 151         queue.merge(new_steps);
 152 }
 153
 154 void TrainRoutePlanner::finalize_plan()
 155 {
 156         for(vector<TrainRoutingInfo>::iterator i=routed_trains.begin(); i!=routed_trains.end(); ++i)
 157         {
 158                 i->routes.clear();
 159                 i->sequence.clear();
 160                 for(unsigned j=0; j<2; ++j)
 161                         i->track_history[j] = 0;
 162         }
 163
 164         map<Track *, TrainRouter::SequencePoint *> sequenced_tracks;
 165         unsigned sequence = steps.size();
 166         for(const RoutingStep *i=goal; i; i=i->prev)
 167                 for(vector<TrainRoutingState>::const_iterator j=i->trains.begin(); j!=i->trains.end(); ++j)
 168                 {
 169                         Track **history = j->info->track_history;
 170                         // Don't process the same track again.
 171                         if(j->track.track()==history[0])
 172                                 continue;
 173
 174                         Route *route = 0;
 175                         bool start_new_route = true;
 176                         if(!j->info->routes.empty())
 177                         {
 178                                 /* If we already have a route and this track or any linked track is
 179                                 in it, start a new one to avoid loops. */
 180                                 route = j->info->routes.front();
 181                                 start_new_route = route->has_track(*j->track);
 182                                 if(!start_new_route)
 183                                 {
 184                                         unsigned nls = j->track->get_n_link_slots();
 185                                         for(unsigned k=0; (!start_new_route && k<nls); ++k)
 186                                         {
 187                                                 Track *link = j->track->get_link(k);
 188                                                 start_new_route = (link && link!=history[0] && route->has_track(*link));
 189                                         }
 190                                 }
 191                         }
 192
 193                         if(start_new_route)
 194                         {
 195                                 route = new Route(j->info->train->get_layout());
 196                                 route->set_name("Router");
 197                                 route->set_temporary(true);
 198                                 /* Have the routes overlap by two tracks to ensure that turnout
 199                                 paths can be deduced. */
 200                                 for(unsigned k=0; (k<2 && history[k]); ++k)
 201                                         route->add_track(*history[k]);
 202                                 j->info->routes.push_front(route);
 203                         }
 204
 205                         route->add_track(*j->track.track());
 206                         history[1] = history[0];
 207                         history[0] = j->track.track();
 208
 209                         bool waitable = j->track.endpoint().paths!=j->track->get_type().get_paths();
 210                         map<Track *, TrainRouter::SequencePoint *>::iterator k = sequenced_tracks.find(j->track.track());
 211                         if(k!=sequenced_tracks.end())
 212                         {
 213                                 // Add a sequence point if another train uses this track afterwards.
 214                                 if(!k->second->preceding_train)
 215                                 {
 216                                         k->second->preceding_train = j->info->train;
 217                                         k->second->sequence_in = sequence;
 218                                 }
 219                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 220                                 if(waitable)
 221                                         k->second = &j->info->sequence.front();
 222                                 --sequence;
 223                         }
 224                         else if(waitable)
 225                         {
 226                                 /* Create a sequence point if it's possible to wait and let another
 227                                 train past. */
 228                                 j->info->sequence.push_front(TrainRouter::SequencePoint(j->track->get_block(), sequence));
 229                                 sequenced_tracks[j->track.track()] = &j->info->sequence.front();
 230                                 --sequence;
 231                         }
 232                 }
 233
 234         result = COMPLETE;
 235 }
 236
 237
 238 TrainRoutePlanner::TrainRoutingInfo::TrainRoutingInfo(Train &t):
 239         train(&t),
 240         speed(train->get_maximum_speed()),
 241         first_noncritical(train->get_last_critical_block().next().block()),
 242         router(train->get_ai_of_type<TrainRouter>()),
 243         has_duration(false)
 244 {
 245         if(unsigned n_wps = router->get_n_waypoints())
 246         {
 247                 waypoints.reserve(n_wps),
 248                 metrics.reserve(n_wps);
 249                 for(unsigned i=0; i<n_wps; ++i)
 250                 {
 251                         waypoints.push_back(router->get_waypoint(i));
 252                         metrics.push_back(&router->get_metric(i));
 253                 }
 254                 has_duration = router->get_trip_duration();
 255         }
 256
 257         // If no maximum speed is specified, use a sensible default
 258         if(!speed)
 259                 speed = 20*train->get_layout().get_catalogue().get_scale();
 260 }
 261
 262
 263 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(Track &t, unsigned p, OccupiedTrack *n):
 264         track(&t),
 265         path_length(track->get_type().get_path_length(p)),
 266         next(n),
 267         n_tracks(next ? next->n_tracks+1 : 1),
 268         refcount(1)
 269 {
 270         if(next)
 271                 ++next->refcount;
 272 }
 273
 274 TrainRoutePlanner::OccupiedTrack::OccupiedTrack(const OccupiedTrack &other):
 275         track(other.track),
 276         path_length(other.path_length),
 277         next(other.next),
 278         n_tracks(other.n_tracks),
 279         refcount(1)
 280 {
 281         if(next)
 282                 ++next->refcount;
 283 }
 284
 285 TrainRoutePlanner::OccupiedTrack::~OccupiedTrack()
 286 {
 287         if(next && !--next->refcount)
 288                 delete next;
 289 }
 290
 291
 292 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(TrainRoutingInfo &inf):
 293         info(&inf),
 294         critical(true),
 295         occupied_tracks(0),
 296         state(MOVING),
 297         delay(info->router->get_departure_delay()),
 298         duration(info->router->get_trip_duration()),
 299         waypoint(0),
 300         blocked_by(-1)
 301 {
 302         const Vehicle *veh = &info->train->get_vehicle(0);
 303         // TODO margins
 304         TrackOffsetIter track_and_offs = veh->get_placement().get_position(VehiclePlacement::FRONT_BUFFER);
 305         track = track_and_offs.track_iter();
 306         offset = track_and_offs.offset();
 307         path = track->get_active_path();
 308
 309         while(Vehicle *next = veh->get_link(1))
 310                 veh = next;
 311         track_and_offs = veh->get_placement().get_position(VehiclePlacement::BACK_BUFFER);
 312         back_offset = track_and_offs.offset();
 313
 314         TrackIter iter = track_and_offs.track_iter();
 315         while(1)
 316         {
 317                 occupied_tracks = new OccupiedTrack(*iter, iter->get_active_path(), occupied_tracks);
 318                 if(iter.track()==track.track())
 319                         break;
 320                 iter = iter.next();
 321         }
 322
 323         update_estimate();
 324 }
 325
 326 TrainRoutePlanner::TrainRoutingState::TrainRoutingState(const TrainRoutingState &other):
 327         info(other.info),
 328         track(other.track),
 329         path(other.path),
 330         critical(other.critical),
 331         occupied_tracks(other.occupied_tracks),
 332         offset(other.offset),
 333         back_offset(other.back_offset),
 334         state(other.state),
 335         delay(other.delay),
 336         duration(other.duration),
 337         waypoint(other.waypoint),
 338         distance_traveled(other.distance_traveled),
 339         remaining_estimate(other.remaining_estimate),
 340         wait_time(other.wait_time),
 341         blocked_by(other.blocked_by)
 342 {
 343         ++occupied_tracks->refcount;
 344 }
 345
 346 TrainRoutePlanner::TrainRoutingState::~TrainRoutingState()
 347 {
 348         if(occupied_tracks && !--occupied_tracks->refcount)
 349                 delete occupied_tracks;
 350 }
 351
 352 Time::TimeDelta TrainRoutePlanner::TrainRoutingState::get_time_to_next_track() const
 353 {
 354         return ((track->get_type().get_path_length(path)-offset)/info->speed)*Time::sec+delay;
 355 }
 356
 357 bool TrainRoutePlanner::TrainRoutingState::is_occupying(Track &trk) const
 358 {
 359         if(state==ARRIVED && !duration && info->has_duration)
 360                 return false;
 361
 362         OccupiedTrack *occ = occupied_tracks;
 363         for(unsigned n=occ->n_tracks; n>0; --n, occ=occ->next)
 364                 if(occ->track==&trk)
 365                         return true;
 366         return false;
 367 }
 368
 369 bool TrainRoutePlanner::TrainRoutingState::check_arrival()
 370 {
 371         TrackIter next_track = track.next(path);
 372
 373         // Check if we're about the exit the current waypoint's tracks.
 374         const TrainRouter::Waypoint &wp = info->waypoints[waypoint];
 375         if(wp.chain->has_track(*track) && !wp.chain->has_track(*next_track))
 376                 if(wp.direction==TrackChain::UNSPECIFIED || track==wp.chain->iter_for(*track, wp.direction))
 377                 {
 378                         if(waypoint+1<info->waypoints.size())
 379                                 ++waypoint;
 380                         else
 381                         {
 382                                 state = ARRIVED;
 383                                 return true;
 384                         }
 385                 }
 386
 387         // If we're entering the first non-critical block, clear the critical flag.
 388         if(info->first_noncritical->has_track(*next_track))
 389                 critical = false;
 390
 391         return false;
 392 }
 393
 394 void TrainRoutePlanner::TrainRoutingState::advance(float distance)
 395 {
 396         offset += distance;
 397         back_offset += distance;
 398
 399         // See if the tail end of the train has passed any sensors.
 400         unsigned count_to_free = 0;
 401         unsigned last_sensor_addr = 0;
 402         float distance_after_sensor = 0;
 403         OccupiedTrack *occ = occupied_tracks;
 404         for(unsigned n=occupied_tracks->n_tracks; n>0; --n)
 405         {
 406                 if(unsigned saddr = occ->track->get_sensor_address())
 407                 {
 408                         if(saddr!=last_sensor_addr)
 409                         {
 410                                 count_to_free = 0;
 411                                 distance_after_sensor = 0;
 412                         }
 413                         last_sensor_addr = saddr;
 414                 }
 415
 416                 ++count_to_free;
 417                 distance_after_sensor += occ->path_length;
 418
 419                 occ = occ->next;
 420         }
 421
 422         // Free the last passed sensor and any tracks behind it.
 423         if(count_to_free && back_offset>distance_after_sensor)
 424         {
 425                 back_offset -= distance_after_sensor;
 426                 if(occupied_tracks->refcount>1)
 427                 {
 428                         --occupied_tracks->refcount;
 429                         occupied_tracks = new OccupiedTrack(*occupied_tracks);
 430                 }
 431                 occupied_tracks->n_tracks -= count_to_free;
 432         }
 433
 434         distance_traveled += distance;
 435         remaining_estimate -= distance;
 436 }
 437
 438 void TrainRoutePlanner::TrainRoutingState::advance(const Time::TimeDelta &dt)
 439 {
 440         if(delay>=dt)
 441         {
 442                 delay -= dt;
 443                 return;
 444         }
 445
 446         float secs = dt/Time::sec;
 447         // There may be negative delay remaining after previous step.
 448         if(delay)
 449         {
 450                 secs -= delay/Time::sec;
 451                 delay = Time::zero;
 452         }
 453
 454         if(duration)
 455                 duration = max(duration-secs*Time::sec, Time::zero);
 456
 457         if(state==MOVING)
 458                 advance(info->speed*secs);
 459         else if(state!=ARRIVED)
 460                 wait_time += secs*Time::sec;
 461 }
 462
 463 void TrainRoutePlanner::TrainRoutingState::advance_track(unsigned next_path)
 464 {
 465         float distance = occupied_tracks->path_length-offset;
 466         track = track.next(path);
 467         path = next_path;
 468         occupied_tracks = new OccupiedTrack(*track, path, occupied_tracks);
 469         advance(distance);
 470         offset = 0;
 471 }
 472
 473 void TrainRoutePlanner::TrainRoutingState::update_estimate()
 474 {
 475         TrackIter iter = track.reverse(path);
 476         remaining_estimate = info->metrics[waypoint]->get_distance_from(*iter.track(), iter.entry());
 477         if(remaining_estimate>=0)
 478                 remaining_estimate += track->get_type().get_path_length(path)-offset;
 479 }
 480
 481 bool TrainRoutePlanner::TrainRoutingState::is_viable() const
 482 {
 483         if(remaining_estimate<0)
 484                 return false;
 485         if(critical && state==BLOCKED)
 486                 return false;
 487         return true;
 488 }
 489
 490
 491 TrainRoutePlanner::RoutingStep::RoutingStep():
 492         prev(0)
 493 { }
 494
 495 TrainRoutePlanner::RoutingStep::RoutingStep(const RoutingStep *p):
 496         time(p->time),
 497         penalty(p->penalty),
 498         cost_estimate(p->cost_estimate),
 499         trains(p->trains),
 500         prev(p)
 501 { }
 502
 503 void TrainRoutePlanner::RoutingStep::create_successors(list<RoutingStep> &new_steps) const
 504 {
 505         RoutingStep next(this);
 506         if(next.update_states() && next.check_deadlocks())
 507                 return;
 508
 509         int train_index = find_next_train();
 510         if(train_index<0)
 511                 return;
 512
 513         TrainRoutingState &train = next.trains[train_index];
 514
 515         Time::TimeDelta dt = train.get_time_to_next_track();
 516         next.advance(dt);
 517
 518         /* Check arrival after the train has advanced to the end of its current track
 519         so travel time and occupied tracks will be correct. */
 520         if(train.check_arrival())
 521         {
 522                 new_steps.push_back(next);
 523                 return;
 524         }
 525
 526         train.advance_track(0);
 527
 528         const TrackType::Endpoint &entry_ep = train.track.endpoint();
 529         if(train.critical)
 530         {
 531                 /* Only create a successor step matching the currently set path for a
 532                 critical track. */
 533                 unsigned critical_path = train.track->get_type().coerce_path(train.track.entry(), train.track->get_active_path());
 534                 create_successor(next, train_index, critical_path, new_steps);
 535         }
 536         else
 537         {
 538                 // Create successor steps for all possible paths through the new track.
 539                 for(unsigned i=0; entry_ep.paths>>i; ++i)
 540                         if(entry_ep.has_path(i))
 541                                 create_successor(next, train_index, i, new_steps);
 542         }
 543
 544         new_steps.sort();
 545         for(list<RoutingStep>::iterator i=new_steps.begin(); ++i!=new_steps.end(); )
 546         {
 547                 i->penalty += 5*Time::sec;
 548                 i->update_estimate();
 549         }
 550
 551         if(entry_ep.paths!=train.track->get_type().get_paths() && !train.critical)
 552         {
 553                 /* Create a waiting state before the track if there's at least one path
 554                 that doesn't pass through the entry endpoint. */
 555                 RoutingStep wait(this);
 556                 wait.advance(dt);
 557                 wait.trains[train_index].state = WAITING;
 558                 wait.penalty += 15*Time::sec;
 559                 wait.update_estimate();
 560                 if(wait.is_viable())
 561                         new_steps.push_back(wait);
 562         }
 563 }
 564
 565 void TrainRoutePlanner::RoutingStep::create_successor(RoutingStep &next, unsigned train_index, unsigned path, list<RoutingStep> &new_steps)
 566 {
 567         TrainRoutingState &train = next.trains[train_index];
 568
 569         train.path = path;
 570         train.update_estimate();
 571         next.update_estimate();
 572         if(next.is_viable())
 573                 new_steps.push_back(next);
 574 }
 575
 576 bool TrainRoutePlanner::RoutingStep::update_states()
 577 {
 578         bool changes = false;
 579         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 580         {
 581                 if(i->state==ARRIVED)
 582                         continue;
 583
 584                 TrainState old_state = i->state;
 585
 586                 TrackIter next_track = i->track.next(i->path);
 587                 if(next_track)
 588                 {
 589                         i->blocked_by = get_occupant(*next_track);
 590                         if(i->blocked_by>=0)
 591                         {
 592                                 /* If the train is still traversing its last critical track, the
 593                                 flag needs to be cleared here to pass viability test. */
 594                                 if(i->info->first_noncritical->has_track(*next_track))
 595                                         i->critical = false;
 596
 597                                 /* Trains in the WAITING state will also transition to BLOCKED and
 598                                 then to MOVING when the other train has passed. */
 599                                 i->state = BLOCKED;
 600                         }
 601                         else if(i->state==BLOCKED)
 602                                 i->state = MOVING;
 603                 }
 604                 else
 605                         i->state = BLOCKED;
 606
 607                 if(i->state!=old_state)
 608                         changes = true;
 609         }
 610
 611         return changes;
 612 }
 613
 614 bool TrainRoutePlanner::RoutingStep::check_deadlocks() const
 615 {
 616         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 617         {
 618                 if(i->state!=BLOCKED)
 619                         continue;
 620
 621                 // A train blocked by end of track is always considered a deadlock.
 622                 if(i->blocked_by<0)
 623                         return true;
 624
 625                 /* Use the tortoise and hare algorithm to check if trains are blocked
 626                 cyclically (A blocks B, which blocks ..., which blocks A). */
 627                 int slow = i->blocked_by;
 628                 int fast = trains[slow].blocked_by;
 629                 while(fast>=0 && trains[fast].blocked_by>=0)
 630                 {
 631                         if(fast==slow)
 632                                 return true;
 633
 634                         slow = trains[slow].blocked_by;
 635                         fast = trains[trains[fast].blocked_by].blocked_by;
 636                 }
 637         }
 638
 639         return false;
 640 }
 641
 642 int TrainRoutePlanner::RoutingStep::get_occupant(Track &track) const
 643 {
 644         for(unsigned i=0; i<trains.size(); ++i)
 645                 if(trains[i].is_occupying(track))
 646                         return i;
 647
 648         return -1;
 649 }
 650
 651 int TrainRoutePlanner::RoutingStep::find_next_train() const
 652 {
 653         Time::TimeDelta min_dt;
 654         int next_train = -1;
 655         for(unsigned i=0; i<trains.size(); ++i)
 656                 if(trains[i].state==MOVING)
 657                 {
 658                         Time::TimeDelta dt = trains[i].get_time_to_next_track();
 659                         if(dt<min_dt || next_train<0)
 660                         {
 661                                 min_dt = dt;
 662                                 next_train = i;
 663                         }
 664                 }
 665
 666         return next_train;
 667 }
 668
 669 void TrainRoutePlanner::RoutingStep::advance(const Time::TimeDelta &dt)
 670 {
 671         time += dt;
 672         for(vector<TrainRoutingState>::iterator i=trains.begin(); i!=trains.end(); ++i)
 673                 i->advance(dt);
 674 }
 675
 676 void TrainRoutePlanner::RoutingStep::update_estimate()
 677 {
 678         cost_estimate = penalty;
 679         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 680                 if(i->remaining_estimate>=0)
 681                         cost_estimate += i->wait_time+((i->distance_traveled+i->remaining_estimate)/i->info->speed)*Time::sec;
 682 }
 683
 684 bool TrainRoutePlanner::RoutingStep::is_viable() const
 685 {
 686         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 687                 if(!i->is_viable())
 688                         return false;
 689
 690         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 691                 if(i->state==MOVING)
 692                         return true;
 693
 694         return false;
 695 }
 696
 697 bool TrainRoutePlanner::RoutingStep::is_goal() const
 698 {
 699         for(vector<TrainRoutingState>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 700                 if(i->state!=ARRIVED)
 701                         return false;
 702         return true;
 703 }
 704
 705 bool TrainRoutePlanner::RoutingStep::operator<(const RoutingStep &other) const
 706 {
 707         return cost_estimate<other.cost_estimate;
 708 }
 709
 710
 711 TrainRoutePlanner::PlanningThread::PlanningThread(TrainRoutePlanner &p):
 712         planner(p)
 713 {
 714         launch();
 715 }
 716
 717 void TrainRoutePlanner::PlanningThread::main()
 718 {
 719         planner.create_plan();
 720 }
 721
 722 } // namespace R2C2