Add parent_blueprint to PlanningInput
#9481
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davepacheco
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Dec 8, 2025
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Looks good. This does make me feel like it'd be worth defining an actual type for the blueprint loader to export so that if we need to make small changes like this we don't have to change a dozen places that are destructuring the tuple. That's neither urgent nor important.
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Replaces the `(BlueprintTarget, Arc<Blueprint>)` tuple as suggested by @davepacheco in #9481 (review). (Also does some minor cleanup to avoid having the `blueprint_planner` task expose a different channel with the same type of contents as the `blueprint_loader`, with a comment explaining the difference.) Staged on top of #9481.
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There are two main changes in this PR:
PlanningInputnow has aparent_blueprintfieldPlannerno longer takes a separate parent blueprint argument (since it comes with the planning input)There are a bunch of other mechanical changes, mostly related to trafficking in
Arc<Blueprint>s in various places.The rationale for change this is to ensure correctness as we get into #5552; I wrote this up in the new doc comment on
PlanningInputFromDb::assemble(); feedback welcome!This is staged on top of #9473. I had tried to make this change before doing that work, and updating the planner tests was a true nightmare. Happy to report updating the tests after that change was quite easy! (Didn't touch the planner tests at all, which only left a few that constructed
PlanningInputs outside the simulator.)