| | | 1 | | //======================================================================= |
| | | 2 | | // NavigationAStarAdmissionGate.cs |
| | | 3 | | //======================================================================= |
| | | 4 | | // MIT License, Copyright (c) 2024-present David Oravsky (mrdav30) |
| | | 5 | | // See LICENSE file in the project root for full license information. |
| | | 6 | | //======================================================================= |
| | | 7 | | |
| | | 8 | | using System; |
| | | 9 | | using System.Threading; |
| | | 10 | | using GridForge.Grids; |
| | | 11 | | |
| | | 12 | | namespace Trailblazer.Pathing; |
| | | 13 | | |
| | | 14 | | /// <summary>Serializes context-owned A* resource admission.</summary> |
| | | 15 | | internal sealed class NavigationAStarAdmissionGate : IDisposable |
| | | 16 | | { |
| | | 17 | | private readonly object _sync = new(); |
| | | 18 | | private readonly NavigationWorldGraphStore _store; |
| | | 19 | | private readonly NavigationQueryLimits _limits; |
| | | 20 | | private readonly NavigationQueryAdmissionCoordinator _coordinator; |
| | | 21 | | private readonly NavigationAStarPayloadCache _cache; |
| | | 22 | | private readonly NavigationAStarQueryWork[] _queries; |
| | | 23 | | private readonly NavigationWorldGraphLease?[] _leases; |
| | | 24 | | private readonly NavigationAStarPayloadReservation[] _reservations; |
| | | 25 | | private readonly BatchDescriptor[] _descriptors; |
| | | 26 | | private ulong _generation; |
| | | 27 | | private ulong _activeGeneration; |
| | | 28 | | private NavigationQueryCapacityReservation _capacityReservation; |
| | | 29 | | private int _activeCount; |
| | | 30 | | private int _activeAdmittedCount; |
| | | 31 | | private int _nextAdmission; |
| | | 32 | | private int _nextPublication; |
| | | 33 | | private bool _active; |
| | | 34 | | private bool _disposed; |
| | | 35 | | |
| | | 36 | | internal NavigationAStarAdmissionGate( |
| | | 37 | | GridWorld world, |
| | | 38 | | NavigationWorldGraphStore store, |
| | | 39 | | NavigationQueryLimits limits, |
| | | 40 | | NavigationQueryAdmissionCoordinator coordinator) |
| | | 41 | | { |
| | | 42 | | SwiftThrowHelper.ThrowIfNull(world, nameof(world)); |
| | | 43 | | SwiftThrowHelper.ThrowIfNull(store, nameof(store)); |
| | | 44 | | SwiftThrowHelper.ThrowIfNull(coordinator, nameof(coordinator)); |
| | | 45 | | SwiftThrowHelper.ThrowIfArgument( |
| | | 46 | | limits.MaxConcurrentNavigationQueries <= 0, |
| | | 47 | | nameof(limits), |
| | | 48 | | "Query limits must be explicitly initialized."); |
| | | 49 | | _store = store; |
| | | 50 | | _limits = limits; |
| | | 51 | | _coordinator = coordinator; |
| | | 52 | | _cache = new NavigationAStarPayloadCache( |
| | | 53 | | world, |
| | | 54 | | limits.MaxAStarCacheEntries, |
| | | 55 | | limits.MaxAStarReusablePayloadBytes, |
| | | 56 | | limits.MaxAStarSinglePayloadBytes, |
| | | 57 | | limits.MaxAStarActivePayloadBytes, |
| | | 58 | | limits.MaxAStarActivePayloadLeases); |
| | | 59 | | _queries = new NavigationAStarQueryWork[limits.MaxConcurrentNavigationQueries]; |
| | | 60 | | _leases = new NavigationWorldGraphLease[limits.MaxConcurrentNavigationQueries]; |
| | | 61 | | _reservations = new NavigationAStarPayloadReservation[limits.MaxConcurrentNavigationQueries]; |
| | | 62 | | for (int i = 0; i < _queries.Length; i++) |
| | | 63 | | { |
| | | 64 | | var workspace = new NavigationAStarWorkspace( |
| | | 65 | | mapCapacity: limits.AStarWorkspaceMapCapacity, |
| | | 66 | | endpointPageCapacity: limits.AStarWorkspaceEndpointPageCapacity, |
| | | 67 | | componentCapacity: limits.AStarWorkspaceComponentCapacity, |
| | | 68 | | nodeCapacity: limits.AStarWorkspaceNodeCapacity, |
| | | 69 | | rayCoveredAddressCapacity: limits.RayWorkspaceCoveredAddressCapacity, |
| | | 70 | | rayTraceIntervalCapacity: limits.RayWorkspaceTraceIntervalCapacity, |
| | | 71 | | guidePointCapacity: limits.AStarWorkspaceGuidePointCapacity); |
| | | 72 | | _queries[i] = new NavigationAStarQueryWork(world, store, workspace, _cache); |
| | | 73 | | } |
| | | 74 | | _descriptors = new BatchDescriptor[limits.MaxBatchItems]; |
| | | 75 | | } |
| | | 76 | | |
| | | 77 | | internal NavigationAStarPayloadCache PayloadCache => _cache; |
| | | 78 | | |
| | | 79 | | internal NavigationAStarQueryStatus Begin( |
| | | 80 | | PathQuery query, |
| | | 81 | | out NavigationAStarBatchWork work) |
| | | 82 | | { |
| | | 83 | | lock (_sync) |
| | | 84 | | { |
| | | 85 | | if (!CanBegin() || !FitsSingleEnvelope(query)) |
| | | 86 | | { |
| | | 87 | | work = default; |
| | | 88 | | return NavigationAStarQueryStatus.CapacityExceeded; |
| | | 89 | | } |
| | | 90 | | _descriptors[0] = new BatchDescriptor(0, 0, query); |
| | | 91 | | return BeginCore(1, out work); |
| | | 92 | | } |
| | | 93 | | } |
| | | 94 | | |
| | | 95 | | internal NavigationAStarQueryStatus Begin( |
| | | 96 | | PathQueryBatch batch, |
| | | 97 | | out NavigationAStarBatchWork work) |
| | | 98 | | { |
| | | 99 | | lock (_sync) |
| | | 100 | | { |
| | | 101 | | if (!CanBegin() || !FitsBatchEnvelope(batch)) |
| | | 102 | | { |
| | | 103 | | work = default; |
| | | 104 | | return NavigationAStarQueryStatus.CapacityExceeded; |
| | | 105 | | } |
| | | 106 | | for (int i = 0; i < batch.Count; i++) |
| | | 107 | | { |
| | | 108 | | PathQueryBatchItem item = batch.Items[i]; |
| | | 109 | | _descriptors[i] = new BatchDescriptor(item.StableOrdinal, i, item.Query); |
| | | 110 | | } |
| | | 111 | | Array.Sort(_descriptors, 0, batch.Count); |
| | | 112 | | return BeginCore(batch.Count, out work); |
| | | 113 | | } |
| | | 114 | | } |
| | | 115 | | |
| | | 116 | | public void Dispose() |
| | | 117 | | { |
| | | 118 | | NavigationAStarBatchWork active = default; |
| | | 119 | | lock (_sync) |
| | | 120 | | { |
| | | 121 | | if (_disposed) |
| | | 122 | | return; |
| | | 123 | | _disposed = true; |
| | | 124 | | if (_active) |
| | | 125 | | active = new NavigationAStarBatchWork(this, _activeGeneration); |
| | | 126 | | } |
| | | 127 | | active.Dispose(); |
| | | 128 | | } |
| | | 129 | | |
| | | 130 | | internal void CancelActive() |
| | | 131 | | { |
| | | 132 | | NavigationAStarBatchWork active = default; |
| | | 133 | | lock (_sync) |
| | | 134 | | { |
| | | 135 | | if (_active) |
| | | 136 | | active = new NavigationAStarBatchWork(this, _activeGeneration); |
| | | 137 | | } |
| | | 138 | | active.Dispose(); |
| | | 139 | | } |
| | | 140 | | |
| | | 141 | | private bool CanBegin() => |
| | | 142 | | !_disposed |
| | | 143 | | && !_active; |
| | | 144 | | |
| | | 145 | | private bool FitsBatchEnvelope(PathQueryBatch batch) => |
| | | 146 | | batch.Count > 0 |
| | | 147 | | && batch.Count <= _limits.MaxBatchItems |
| | | 148 | | && batch.GetLogicalRetainedBytes() <= _limits.MaxBatchDescriptorBytes; |
| | | 149 | | |
| | | 150 | | private bool FitsSingleEnvelope(PathQuery query) |
| | | 151 | | { |
| | | 152 | | return PathQueryBatchItem.GetLogicalRetainedBytes(query) |
| | | 153 | | <= _limits.MaxBatchDescriptorBytes; |
| | | 154 | | } |
| | | 155 | | |
| | | 156 | | private NavigationAStarQueryStatus BeginCore( |
| | | 157 | | int count, |
| | | 158 | | out NavigationAStarBatchWork work) |
| | | 159 | | { |
| | | 160 | | int candidateCount = _coordinator.TryReservePrefix( |
| | | 161 | | PathAlgorithm.AStar, |
| | | 162 | | Math.Min(count, _queries.Length), |
| | | 163 | | out _capacityReservation); |
| | | 164 | | int leased = _store.TryAcquirePrefix(_leases.AsSpan(0, candidateCount)); |
| | | 165 | | _capacityReservation = _coordinator.Trim(_capacityReservation, leased); |
| | | 166 | | |
| | | 167 | | int admitted = 0; |
| | | 168 | | for (; admitted < leased; admitted++) |
| | | 169 | | { |
| | | 170 | | PathQuery query = _descriptors[admitted].Query; |
| | | 171 | | long maximumBytes = Math.Min( |
| | | 172 | | NavigationAStarPayload.GetMaximumRetainedBytes( |
| | | 173 | | _limits.AStarWorkspaceGuidePointCapacity, |
| | | 174 | | query.AllowTransitions |
| | | 175 | | ? _limits.AStarWorkspaceNodeCapacity - 1 |
| | | 176 | | : 0, |
| | | 177 | | _limits.AStarWorkspaceComponentCapacity, |
| | | 178 | | _limits.AStarWorkspaceEndpointPageCapacity), |
| | | 179 | | _limits.MaxAStarSinglePayloadBytes); |
| | | 180 | | if (!_cache.TryReservePayload(maximumBytes, out _reservations[admitted])) |
| | | 181 | | break; |
| | | 182 | | } |
| | | 183 | | for (int i = admitted; i < leased; i++) |
| | | 184 | | { |
| | | 185 | | _leases[i]!.Dispose(); |
| | | 186 | | _leases[i] = null; |
| | | 187 | | } |
| | | 188 | | _capacityReservation = _coordinator.Trim(_capacityReservation, admitted); |
| | | 189 | | for (int i = 0; i < admitted; i++) |
| | | 190 | | { |
| | | 191 | | _descriptors[i].SlotIndex = i; |
| | | 192 | | _queries[i].BeginReserved( |
| | | 193 | | _descriptors[i].Query, |
| | | 194 | | _leases[i]!, |
| | | 195 | | ref _reservations[i]); |
| | | 196 | | _leases[i] = null; |
| | | 197 | | } |
| | | 198 | | _generation = unchecked(_generation + 1UL); |
| | | 199 | | _activeGeneration = _generation; |
| | | 200 | | _activeCount = count; |
| | | 201 | | _activeAdmittedCount = admitted; |
| | | 202 | | _nextAdmission = 0; |
| | | 203 | | _nextPublication = 0; |
| | | 204 | | _active = true; |
| | | 205 | | work = new NavigationAStarBatchWork(this, _activeGeneration); |
| | | 206 | | return NavigationAStarQueryStatus.Pending; |
| | | 207 | | } |
| | | 208 | | |
| | | 209 | | private BatchDescriptor GetDescriptor(int inputIndex) |
| | | 210 | | { |
| | | 211 | | SwiftThrowHelper.ThrowIfArgumentOutOfRange( |
| | | 212 | | inputIndex < 0 || inputIndex >= _activeCount, |
| | | 213 | | inputIndex, |
| | | 214 | | nameof(inputIndex)); |
| | | 215 | | int descriptorOrdinal = 0; |
| | | 216 | | while (_descriptors[descriptorOrdinal].InputIndex != inputIndex) |
| | | 217 | | descriptorOrdinal++; |
| | | 218 | | return _descriptors[descriptorOrdinal]; |
| | | 219 | | } |
| | | 220 | | |
| | | 221 | | internal int GetAdmittedCount(NavigationAStarBatchWork work) |
| | | 222 | | { |
| | | 223 | | lock (_sync) |
| | | 224 | | { |
| | | 225 | | EnsureActive(work); |
| | | 226 | | return _activeAdmittedCount; |
| | | 227 | | } |
| | | 228 | | } |
| | | 229 | | |
| | | 230 | | internal bool IsAdmissionComplete(NavigationAStarBatchWork work) |
| | | 231 | | { |
| | | 232 | | lock (_sync) |
| | | 233 | | { |
| | | 234 | | EnsureActive(work); |
| | | 235 | | return _nextAdmission >= _activeAdmittedCount; |
| | | 236 | | } |
| | | 237 | | } |
| | | 238 | | |
| | | 239 | | internal NavigationAStarQueryStatus GetStatus( |
| | | 240 | | NavigationAStarBatchWork work, |
| | | 241 | | int inputIndex) |
| | | 242 | | { |
| | | 243 | | lock (_sync) |
| | | 244 | | { |
| | | 245 | | EnsureActive(work); |
| | | 246 | | BatchDescriptor descriptor = GetDescriptor(inputIndex); |
| | | 247 | | if (descriptor.SlotIndex < 0) |
| | | 248 | | return NavigationAStarQueryStatus.CapacityExceeded; |
| | | 249 | | NavigationAStarQueryWork query = _queries[descriptor.SlotIndex]; |
| | | 250 | | lock (query) |
| | | 251 | | return query.Status; |
| | | 252 | | } |
| | | 253 | | } |
| | | 254 | | |
| | | 255 | | internal bool IsReadyToPublish( |
| | | 256 | | NavigationAStarBatchWork work, |
| | | 257 | | int inputIndex) |
| | | 258 | | { |
| | | 259 | | lock (_sync) |
| | | 260 | | { |
| | | 261 | | EnsureActive(work); |
| | | 262 | | BatchDescriptor descriptor = GetDescriptor(inputIndex); |
| | | 263 | | return descriptor.SlotIndex < 0 |
| | | 264 | | || _queries[descriptor.SlotIndex].IsReadyToPublish; |
| | | 265 | | } |
| | | 266 | | } |
| | | 267 | | |
| | | 268 | | internal void AdvanceAdmission( |
| | | 269 | | NavigationAStarBatchWork work, |
| | | 270 | | int lookupStepLimit, |
| | | 271 | | int endpointCandidateStepLimit) |
| | | 272 | | { |
| | | 273 | | lock (_sync) |
| | | 274 | | { |
| | | 275 | | EnsureActive(work); |
| | | 276 | | while (_nextAdmission < _activeAdmittedCount) |
| | | 277 | | { |
| | | 278 | | NavigationAStarQueryWork query = _queries[_nextAdmission]; |
| | | 279 | | query.PrepareSearchOrCheckout( |
| | | 280 | | lookupStepLimit, |
| | | 281 | | endpointCandidateStepLimit); |
| | | 282 | | if (!query.IsPrepared) |
| | | 283 | | return; |
| | | 284 | | _nextAdmission++; |
| | | 285 | | } |
| | | 286 | | } |
| | | 287 | | } |
| | | 288 | | |
| | | 289 | | internal NavigationAStarQueryStatus AdvanceSearch( |
| | | 290 | | NavigationAStarBatchWork work, |
| | | 291 | | int inputIndex, |
| | | 292 | | int lookupStepLimit, |
| | | 293 | | int nodeStepLimit, |
| | | 294 | | int edgeStepLimit, |
| | | 295 | | int connectionStepLimit) |
| | | 296 | | { |
| | | 297 | | BatchDescriptor descriptor; |
| | | 298 | | NavigationAStarQueryWork query; |
| | | 299 | | lock (_sync) |
| | | 300 | | { |
| | | 301 | | EnsureActive(work); |
| | | 302 | | descriptor = GetDescriptor(inputIndex); |
| | | 303 | | if (descriptor.SlotIndex < 0) |
| | | 304 | | return NavigationAStarQueryStatus.CapacityExceeded; |
| | | 305 | | query = _queries[descriptor.SlotIndex]; |
| | | 306 | | SwiftThrowHelper.ThrowIfTrue( |
| | | 307 | | !query.IsPrepared, |
| | | 308 | | message: "The query has not completed sequential admission."); |
| | | 309 | | Monitor.Enter(query); |
| | | 310 | | } |
| | | 311 | | try |
| | | 312 | | { |
| | | 313 | | return query.AdvanceSearch( |
| | | 314 | | lookupStepLimit, |
| | | 315 | | nodeStepLimit, |
| | | 316 | | edgeStepLimit, |
| | | 317 | | connectionStepLimit); |
| | | 318 | | } |
| | | 319 | | finally |
| | | 320 | | { |
| | | 321 | | Monitor.Exit(query); |
| | | 322 | | } |
| | | 323 | | } |
| | | 324 | | |
| | | 325 | | internal int PublishReadyPrefix( |
| | | 326 | | NavigationAStarBatchWork work, |
| | | 327 | | int maximumCount) |
| | | 328 | | { |
| | | 329 | | SwiftThrowHelper.ThrowIfNegative(maximumCount, nameof(maximumCount)); |
| | | 330 | | lock (_sync) |
| | | 331 | | { |
| | | 332 | | EnsureActive(work); |
| | | 333 | | int published = 0; |
| | | 334 | | while (published < maximumCount |
| | | 335 | | && _nextPublication < _activeAdmittedCount) |
| | | 336 | | { |
| | | 337 | | NavigationAStarQueryWork query = _queries[_nextPublication]; |
| | | 338 | | lock (query) |
| | | 339 | | { |
| | | 340 | | if (!query.IsReadyToPublish) |
| | | 341 | | break; |
| | | 342 | | query.Publish(); |
| | | 343 | | } |
| | | 344 | | _nextPublication++; |
| | | 345 | | published++; |
| | | 346 | | } |
| | | 347 | | return published; |
| | | 348 | | } |
| | | 349 | | } |
| | | 350 | | |
| | | 351 | | internal NavigationAStarPayloadLease TakeResult( |
| | | 352 | | NavigationAStarBatchWork work, |
| | | 353 | | int inputIndex) |
| | | 354 | | { |
| | | 355 | | lock (_sync) |
| | | 356 | | { |
| | | 357 | | EnsureActive(work); |
| | | 358 | | BatchDescriptor descriptor = GetDescriptor(inputIndex); |
| | | 359 | | SwiftThrowHelper.ThrowIfTrue( |
| | | 360 | | descriptor.SlotIndex < 0, |
| | | 361 | | message: "The query was not admitted."); |
| | | 362 | | return _queries[descriptor.SlotIndex].TakeResult(); |
| | | 363 | | } |
| | | 364 | | } |
| | | 365 | | |
| | | 366 | | internal void Release(NavigationAStarBatchWork work) |
| | | 367 | | { |
| | | 368 | | lock (_sync) |
| | | 369 | | { |
| | | 370 | | if (!IsActive(work)) |
| | | 371 | | return; |
| | | 372 | | for (int i = 0; i < _activeAdmittedCount; i++) |
| | | 373 | | { |
| | | 374 | | lock (_queries[i]) |
| | | 375 | | _queries[i].Dispose(); |
| | | 376 | | } |
| | | 377 | | _coordinator.Release(_capacityReservation); |
| | | 378 | | _capacityReservation = default; |
| | | 379 | | if (_activeCount > 0) |
| | | 380 | | Array.Clear(_descriptors, 0, _activeCount); |
| | | 381 | | _active = false; |
| | | 382 | | _activeGeneration = 0; |
| | | 383 | | _activeCount = 0; |
| | | 384 | | _activeAdmittedCount = 0; |
| | | 385 | | _nextAdmission = 0; |
| | | 386 | | _nextPublication = 0; |
| | | 387 | | } |
| | | 388 | | } |
| | | 389 | | |
| | | 390 | | private void EnsureActive(NavigationAStarBatchWork work) |
| | | 391 | | { |
| | | 392 | | if (!IsActive(work)) |
| | | 393 | | throw new ObjectDisposedException(nameof(NavigationAStarBatchWork)); |
| | | 394 | | } |
| | | 395 | | |
| | | 396 | | private bool IsActive(NavigationAStarBatchWork work) => |
| | | 397 | | _active |
| | | 398 | | && work.IsOwnedBy(this) |
| | | 399 | | && work.Generation == _activeGeneration; |
| | | 400 | | |
| | | 401 | | private struct BatchDescriptor : IComparable<BatchDescriptor> |
| | | 402 | | { |
| | | 403 | | internal BatchDescriptor(long stableOrdinal, int inputIndex, PathQuery query) |
| | | 404 | | { |
| | | 405 | | StableOrdinal = stableOrdinal; |
| | | 406 | | InputIndex = inputIndex; |
| | | 407 | | Query = query; |
| | | 408 | | SlotIndex = -1; |
| | | 409 | | } |
| | | 410 | | |
| | | 411 | | internal long StableOrdinal; |
| | | 412 | | internal int InputIndex; |
| | | 413 | | internal PathQuery Query; |
| | | 414 | | internal int SlotIndex; |
| | | 415 | | |
| | | 416 | | public readonly int CompareTo(BatchDescriptor other) |
| | | 417 | | { |
| | | 418 | | int ordinalComparison = StableOrdinal.CompareTo(other.StableOrdinal); |
| | | 419 | | return ordinalComparison != 0 |
| | | 420 | | ? ordinalComparison |
| | | 421 | | : InputIndex.CompareTo(other.InputIndex); |
| | | 422 | | } |
| | | 423 | | } |
| | | 424 | | } |
| | | 425 | | |
| | | 426 | | /// <summary>Coordinates one deterministically admitted A* query batch.</summary> |
| | | 427 | | internal readonly struct NavigationAStarBatchWork : IDisposable |
| | | 428 | | { |
| | | 429 | | private readonly NavigationAStarAdmissionGate? _owner; |
| | | 430 | | |
| | | 431 | | internal NavigationAStarBatchWork( |
| | | 432 | | NavigationAStarAdmissionGate owner, |
| | | 433 | | ulong generation) |
| | | 434 | | { |
| | 411 | 435 | | _owner = owner; |
| | 411 | 436 | | Generation = generation; |
| | 411 | 437 | | } |
| | | 438 | | |
| | | 439 | | internal ulong Generation { get; } |
| | | 440 | | |
| | 5 | 441 | | internal int AdmittedCount => Owner.GetAdmittedCount(this); |
| | | 442 | | |
| | 944 | 443 | | internal bool IsAdmissionComplete => Owner.IsAdmissionComplete(this); |
| | | 444 | | |
| | | 445 | | internal NavigationAStarQueryStatus GetStatus(int inputIndex) => |
| | 403 | 446 | | Owner.GetStatus(this, inputIndex); |
| | | 447 | | |
| | | 448 | | internal bool IsReadyToPublish(int inputIndex) => |
| | 666 | 449 | | Owner.IsReadyToPublish(this, inputIndex); |
| | | 450 | | |
| | | 451 | | internal void AdvanceAdmission(int lookupStepLimit, int endpointCandidateStepLimit) => |
| | 545 | 452 | | Owner.AdvanceAdmission(this, lookupStepLimit, endpointCandidateStepLimit); |
| | | 453 | | |
| | | 454 | | internal NavigationAStarQueryStatus AdvanceSearch( |
| | | 455 | | int inputIndex, |
| | | 456 | | int lookupStepLimit, |
| | | 457 | | int nodeStepLimit, |
| | | 458 | | int edgeStepLimit, |
| | 267 | 459 | | int connectionStepLimit) => Owner.AdvanceSearch( |
| | 267 | 460 | | this, |
| | 267 | 461 | | inputIndex, |
| | 267 | 462 | | lookupStepLimit, |
| | 267 | 463 | | nodeStepLimit, |
| | 267 | 464 | | edgeStepLimit, |
| | 267 | 465 | | connectionStepLimit); |
| | | 466 | | |
| | | 467 | | internal int PublishReadyPrefix(int maximumCount) => |
| | 391 | 468 | | Owner.PublishReadyPrefix(this, maximumCount); |
| | | 469 | | |
| | | 470 | | internal NavigationAStarPayloadLease TakeResult(int inputIndex) => |
| | 369 | 471 | | Owner.TakeResult(this, inputIndex); |
| | | 472 | | |
| | 1435 | 473 | | public void Dispose() => _owner?.Release(this); |
| | | 474 | | |
| | | 475 | | internal bool IsOwnedBy(NavigationAStarAdmissionGate owner) => |
| | 3997 | 476 | | ReferenceEquals(_owner, owner); |
| | | 477 | | |
| | | 478 | | private NavigationAStarAdmissionGate Owner => |
| | 3590 | 479 | | _owner ?? throw new ObjectDisposedException(nameof(NavigationAStarBatchWork)); |
| | | 480 | | } |