Define the planner interface and transition the daemon to be a child process #75
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Part of #62 and #63.
Previously we needed to launch the daemon process independently. For simplicity for now, we will have the server automatically launch it as a subprocess (thus we assume that the daemon process runs on the same physical machine as the server process).
Later on we can decouple the daemon and have it communicate with the main server process over RPC instead, but this is engineering work that is not currently necessary.