planning/mission_planner/media/rerouting_interface.svg

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name=&quot;Page-4&quot;&gt;7V1bc6M4Fv4t8+CqngenQODbo5N0T+/WZCrV2Z3u3peUYhRb0xgxQr71r18JkAOSfMtgW9ikuhMjZB3gfOfo09GRaHl30+VvFMaTBxKgsAWcMcVBy7tvAeDy/7wghmNUKhA1nvBPWejkpTMcoKRUkRESMhyXC0ckitCIlcogpWRRrvZKQv0ynkYwRFrpVxywSVba7zhv5Z8RHk+kINfJz0yhrJwXJBMYkEWhyPvYAt0W8Jaw5d22RFn5n3dHCWE7q8nK0+UdCsWTlc81k/vp/Q2s752iiFXU5vfR18VHcr/8Fg7JavTf+e3/XtrtXFDCVvKxo4BrIT8klE3ImEQw/PhWekvJLAqQaJXLuX2r8zshMS90eeFfiLFVjiA4Y4QXTdg0zM9mMoWgjXcr8QXpGLEt1+/to071wfyGyBQxuuLHFIWQ4Xn5QmAO1PG63mEypKQhpXBVaC8mOGLJ+1p7u/pH0Qo/WGaN9rp+dtWr7PhQpJxciHfHv5c9mvd8Wb82x3xt68eekBkdofxbB190erkFzOxrf+m3UhOs1mKB3RabPezGYrcB1lMA6x/DYisUcnSL9RWLzdz+pVisl93cHIazHLUPOEkwiXjhYwg5WaJcXMjt6PZFfBqLTx9icQZH4181ey9b82KCGXqKYWp0C87zTJY7R5Sh5Xbb/Qc2mbfcV3sJyRwXb/wNSJY2KXA3Vf9FMz6A8hxLgb7dLncnSera7HI179DtlkHkKeC4rO68Yze2dnbn3T0xCJp+HwzMyK60369SSNX9vufvMO3L6ve7Wr8/DGDMCK1Pj+6qGjP06H2ndh16T9PME2JfyIwhXvoBLRmi3J3qzIs/cVZWRsIo+YHuSMi16t1HJBL++RWHoVIEQzyO+OGIa4jTPe9W6A+PYDjMT0xxEKTO3aT9Mj5eScRk8/yROOnPqYEBysDwOjowXGBABrAbGf2NyHhcdwkNJIyQAN4G716EhIn9Ww6JgQaJR5IIR/EfEuORpYA4peI3EfYdfYTlapc9nZ3M/KqJdF+JH3lev3oiXaWQqon0oNdTr+3GAf1Oz/XT316nrNV/NmTeeBlqHG/XZdSW3o8Xs5+D+cMyePp38hR9on9+vY3bkgGd1kGgJWbfxNdvOvnR98KZ+2XecnqwKnUGlQz3XUPMyfx0/FO5KRv6ClfjCDKim8QwKoGk+/eMpKFeOPoxTuHQHmU8YCjERJhhGKYXJWvKkPALmsA5JvQ5hmzyHG+KHMsSfrOZcFlcl0Gn6t3AwNGJpBxvFBmFZBm2ogRsYpJ5r3n1TFKbGHIMmgcGzQPLNa9PAX0e3j/AOI85WKl4G8aUG2cK6w6IjgaIJs6wJya00JMhJllLTJyFT1bJDfs6N2zmgoBx6OQOzCCudAhbpZB3DmFtm5Nxe+cwsu1uszG+ExsfcBW76BzB+KoUcinGp8+uDONYM0hrB6YK8TCNSyU/LfKONRmxlXjoMxxf/sQ/66sXAyE06cXySWqJmtryQeDt2yX1rr5L6rjKQPcYuUFVCrmQLmkN5sbIrsDIfAX/x+B9VQq5FCMD12JkGcO9aiNzlTQgb3AEI6tSyKUYmT7HMLzXZweHj/+qD7HXEob3ZPbreSNbqf1ZVpRw7dDVt+KBSB3IEwnE4Vv2QHp0hPQB0NuXrTRRqk5fya45Roi4SiH1c6TGzBXvLEtyZF6P/FwwzVPk9dg9OjAkwJlhe6GpZpLt2ADJXoPJPTHZdW7yRMjs94UgdGvHblrkrFLQzWueEwYZqtGC5y5Qxvp7Lo+ynp82y2DejQkfOGVMmJbBmActdmNCnyUqLprDUbNo7mBomBbN1RAaEuHFCcQmsXErFNSFtZ5hLrmGi6Y8UyK8ylyjYCh2g3tTbgCTSaod1wQOufkbOFCRR11EVVCTKRNdlp145wwlW9avduuMveW6A0XuZXFdDzQgtwfkGtiOBHLX6V8XyvX5hAblJ0O5hjbQOxnMO1cFc7+B+flg3lMDKKdD+Q7BF4Zyfb1Rg/KL5+WqdWlyLwzk3Qbk9rjy04G8zFcu3ZPrEy3T9W6y6z0BnIgETfjNYDqbBpESNHWPxOpB+hwdz3I/YS6aiuDsh9kMB020fjNGej3z6sm672cmYV3ASMJ1BikmRZBMSYBfMQqexwSGDVh2gUXNo8p3i6o9WEyxzh072xS2s6Hjlw9cHr88R/75NbssobT2K5zicJVV/YzCORIQKJxP0tQUcdYF8bJ4IhM6THs6Os03zMnOzTmSIf/LgQTZjIo31mytN4LxpiqLXFHipJ9jygkR45Bt89sfCUvRvkloPIFR3iTIyoShtHPMi+I17OU5zPEc5ZIceavpGUZ5Y6+8fSkptZ8MWekrdQpiFoQG5Qtbt8Xv5eUH5s2JNjMrbefYLNUzb0sk9Aj8fqZC4A/yDx2pzbTVAI0I5YyTRG02waMfEUoSfVcjrW5Bl1vrbdglyXkNCWTqwwlwwn3ZSlYPcSRmqX/B05hQBqN8nyRlgyU6F6sePwmH19pzE6XcA1qUk9IHZTrs9zRH1DX4IcsXQ/p6NPoLEjwm7az4zfF745CZCC3Lnot/zFTpLCZIuKqA4rnxjQp6P7Z//8QdDP4JX9KmhIfIc4F5u53bVudetDVjJPNkB3WRpwQNGCh82JC0sh5YFWGjDvJsg815Eidlor1zA9bJ9d+LJ4+faS9XoVm0LtAGPOjR/ocvDxpGLHLnvho7NG2GJ0lk0TKlk7dVE4Y4RnHE0fhoFQkd2UVvQ4JpiGGPjzYmt+tTE1nIwjgYbUIXezmNbhkqXu225DYixT3ryhy51GGflTkFBtA7AQMwPq3ulROAbQ+l4Gykl3nmZTiAptezWEQH1L1xjZ2AaVLIHjpg1IvOBpow05WGmTqujC69fbioMJNcM/E0e0lGFMcsm7z7g4i3a1cadyrznwC9wlnaemnO+5Tuq+e7ZWIy0KNTroz1lJiJZ7X7GpyVmBzhVQC1WXXpuh1l5kXdBf5YKWQ7Bdc28cBMvvXQCe8z/kIjzpj22bv+ykbrrqPAYz0mK7g6uyOqZhjoDBonGXduQKCnECgYkLnVOyZjLMeAXB58Od3dHsNpYAiobx5iXslwGuidws5x2+EvvpkSts5guoo33hhpcQ1H9Z6+j4AhHa0J7h4Elr58m8x6Y/GBDha7U43MYDnrIOoom9zUZhTV6/g3jjo0H9w4gypHNNukq4i+cYo/3SpHdMcfWKV1KRF92Maa8iq4l5k8kACJVv8P&lt;/diagram&gt;&lt;diagram id=&quot;ER7t92FaduNnJ9lLC8Zw&quot; name=&quot;Page-5&quot;&gt;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&lt;/diagram&gt;&lt;diagram id=&quot;yXsCL-z7qL8_HqEpBigV&quot; name=&quot;Page-6&quot;&gt;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&lt;/diagram&gt;&lt;diagram id=&quot;kVvTKtIosHfw1U9-bu00&quot; name=&quot;Page-8&quot;&gt;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&lt;/diagram&gt;&lt;diagram id=&quot;WJpIQ8y3tRHmDByi--IM&quot; name=&quot;Emergency&quot;&gt;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&lt;/diagram&gt;&lt;diagram name=&quot;Copy of Emergency&quot; 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    <path d="M 200 80 L 360 80 L 380 100 L 360 120 L 200 120 L 180 100 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 100px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                set_route_points
                <br style="border-color: var(--border-color); font-size: 11px;"/>
                <span style="font-size: 11px;">(SetRoutePoints.srv)</span>
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="104" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">set_route_points...</text>
      </switch>
    </g>
    <path d="M 380 160 L 440 160 L 453.63 160" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 458.88 160 L 451.88 163.5 L 453.63 160 L 451.88 156.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 200 140 L 360 140 L 380 160 L 360 180 L 200 180 L 180 160 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 160px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                set_route
                <br style="border-color: var(--border-color); font-size: 11px;"/>
                <span style="font-size: 11px;">(SetRoute.srv)</span>
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">set_route...</text>
      </switch>
    </g>
    <path d="M 380 220 L 410 220 L 453.63 220" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 458.88 220 L 451.88 223.5 L 453.63 220 L 451.88 216.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 200 200 L 360 200 L 380 220 L 360 240 L 200 240 L 180 220 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 220px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                change_route_points
                <br style="border-color: var(--border-color); font-size: 11px;"/>
                <span style="font-size: 11px;">(SetRoutePoints.srv)</span>
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">change_route_points...</text>
      </switch>
    </g>
    <path d="M 380 280 L 410 280 L 453.63 280" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 458.88 280 L 451.88 283.5 L 453.63 280 L 451.88 276.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 200 260 L 360 260 L 380 280 L 360 300 L 200 300 L 180 280 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 280px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                change_route
                <br style="border-color: var(--border-color); font-size: 11px;"/>
                <span style="font-size: 11px;">(SetRoute.srv)</span>
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="284" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">change_route...</text>
      </switch>
    </g>
    <path d="M 180 400 L 120 400 L 106.37 400" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 101.12 400 L 108.12 396.5 L 106.37 400 L 108.12 403.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <ellipse cx="280" cy="400" rx="100" ry="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 400px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                route
                <br style="font-size: 11px;"/>
                (Route.msg)
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="403" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">route...</text>
      </switch>
    </g>
    <path d="M 180 340 L 110 340 L 106.37 340" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 101.12 340 L 108.12 336.5 L 106.37 340 L 108.12 343.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <ellipse cx="280" cy="340" rx="100" ry="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 340px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                state
                <br style="font-size: 11px;"/>
                (RouteState.msg)
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="343" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">state...</text>
      </switch>
    </g>
    <path d="M 900 40 L 870 40 L 866.37 40" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 861.12 40 L 868.12 36.5 L 866.37 40 L 868.12 43.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 900 110 L 890 110 L 866.37 110" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 861.12 110 L 868.12 106.5 L 866.37 110 L 868.12 113.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <rect x="900" y="30" width="160" height="400" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 230px; margin-left: 901px;"
          >
            <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                behavior_path_planner
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="980" y="234" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">behavior_path_planner</text>
      </switch>
    </g>
    <path d="M 700 40 L 666.37 40" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 661.12 40 L 668.12 36.5 L 666.37 40 L 668.12 43.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <ellipse cx="780" cy="40" rx="80" ry="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 40px; margin-left: 701px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                modified_goal
                <br/>
                (with uuid)
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="780" y="43" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">modified_goal...</text>
      </switch>
    </g>
    <ellipse cx="780" cy="110" rx="80" ry="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 110px; margin-left: 701px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                route
                <br/>
                (with uuid)
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="780" y="113" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">route...</text>
      </switch>
    </g>
    <path d="M 560 540 L 560 486.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 560 481.12 L 563.5 488.12 L 560 486.37 L 556.5 488.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 780 540 L 780 530 L 780 506.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 780 501.12 L 783.5 508.12 L 780 506.37 L 776.5 508.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <rect x="460" y="540" width="440" height="40" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 438px; height: 1px; padding-top: 560px; margin-left: 461px;"
          >
            <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                MRM
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="680" y="564" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">MRM</text>
      </switch>
    </g>
    <path d="M 380 560 L 453.63 560" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 458.88 560 L 451.88 563.5 L 453.63 560 L 451.88 556.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 200 540 L 360 540 L 380 560 L 360 580 L 200 580 L 180 560 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 560px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                T.B.D.
                <br/>
                (Request MRM)
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="564" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">T.B.D....</text>
      </switch>
    </g>
    <path d="M 380 40 L 450 40 L 453.63 40" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 458.88 40 L 451.88 43.5 L 453.63 40 L 451.88 36.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 200 20 L 360 20 L 380 40 L 360 60 L 200 60 L 180 40 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 40px; margin-left: 181px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                clear_route
                <br style="border-color: var(--border-color); font-size: 11px;"/>
                <span style="font-size: 11px;">(ClearRoute.srv)</span>
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="280" y="44" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">clear_route...</text>
      </switch>
    </g>
    <path d="M 780 460 L 780 370 L 666.37 370" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
    <path d="M 661.12 370 L 668.12 366.5 L 666.37 370 L 668.12 373.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <path d="M 720 460 L 840 460 L 860 480 L 840 500 L 720 500 L 700 480 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 480px; margin-left: 701px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                clear_mrm_route
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="780" y="484" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">clear_mrm_route</text>
      </switch>
    </g>
    <rect x="120" y="470" width="80" height="20" fill="none" stroke="none" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 480px; margin-left: 121px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                ADAPI
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="160" y="484" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ADAPI</text>
      </switch>
    </g>
    <rect x="740" y="210" width="80" height="20" fill="none" stroke="none" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
          <div
            xmlns="http://www.w3.org/1999/xhtml"
            style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 220px; margin-left: 741px;"
          >
            <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
              <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
                planning
              </div>
            </div>
          </div>
        </foreignObject>
        <text x="780" y="224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">planning</text>
      </switch>
    </g>
    <rect x="940" y="530" width="80" height="20" fill="none" stroke="none" pointer-events="all"/>
    <g transform="translate(-0.5 -0.5)">
      <switch>
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