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Update controller to use new planner logic (#4825)
* Update controller to use new planner logic Signed-off-by: khanhtc1202 <khanhtc1202@gmail.com> * Update proto path Signed-off-by: khanhtc1202 <khanhtc1202@gmail.com> * Fix typo Signed-off-by: khanhtc1202 <khanhtc1202@gmail.com> * Fix typo Signed-off-by: khanhtc1202 <khanhtc1202@gmail.com> * Update planner logic to call proto instead of self executing Signed-off-by: khanhtc1202 <khanhtc1202@gmail.com> --------- Signed-off-by: khanhtc1202 <khanhtc1202@gmail.com>
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