Started by upstream project "orin-module-slave32" build number 5,6365636orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_weiqiaopncBranchfeat_daxie_proto_oldhdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#22642264false22641402237SUCCESS1794496762667http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/2264/- src/org/devops/push.groovy4b3ff96be12dab845412c7efd57a1713e5af13d11794482897000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy
2026-11-12 11:28:17 +00004b3ff96be12dab845412c7efd57a1713e5af13d1Update push.groovyeditsrc/org/devops/push.groovy
- src/org/devops/push.groovyce743cd5400a2b1d6d0061310cb713c96ccf7d091794483477000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate push.groovy
2026-11-12 11:37:57 +0000ce743cd5400a2b1d6d0061310cb713c96ccf7d09Update push.groovyeditsrc/org/devops/push.groovy
git- orin-cleanup.jenkinsfileeccb4ccd2c4816cc379dcd96718d965c51d1f2eb1794477864000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin-cleanup.jenkinsfile
2026-11-12 10:04:24 +0000eccb4ccd2c4816cc379dcd96718d965c51d1f2ebUpdate orin-cleanup.jenkinsfileeditorin-cleanup.jenkinsfile
git- algorithm/wbca/wbca_manager.cppTesting/wbca_smooth_continuity_test.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3f676e2239704a72d8be0a0780f4a3907db2cb531788956922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(wbca): align IMV smooth planning with shared route logic
2026-09-09 20:28:42 +08003f676e2239704a72d8be0a0780f4a3907db2cb53fix(wbca): align IMV smooth planning with shared route logiceditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditTesting/wbca_smooth_continuity_test.cpp
- CMakeLists.txtdata/ssep/trailer_parking_safety.cppTesting/trailer_parking_safety_test.cpp7b28a9cf19d4fe474fff3e76fed2eb528b46681d1789467437000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autoFix SSEP straight-tail obstacle extent in tractor goal frame
2026-09-15 18:17:17 +08007b28a9cf19d4fe474fff3e76fed2eb528b46681dFix SSEP straight-tail obstacle extent in tractor goal frameeditdata/ssep/trailer_parking_safety.cppeditCMakeLists.txtaddTesting/trailer_parking_safety_test.cpp
- Testing/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cppa78b22ec362b64575bce78553b3664064f3b438c1789637753000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(routing): keep destination continuous across neighboring lanes
Project same-section neighboring lane positions onto the destination lane instead of accumulating overlapping route entries. Cover the LS020 index transition, differing lane coordinates, and successor distances.
Validation: 15 routing tests pass. Offline destination replay across all 635 LS020 snapshots reproduces the original distances exactly and removes the -204 m jump with the fix.
2026-09-17 17:35:53 +0800a78b22ec362b64575bce78553b3664064f3b438cfix(routing): keep destination continuous across neighboring laneseditTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- replayer/replayer_data_process/replayer_data_process.cppdata/lattice/trajectory1d_generator.cppTesting/longitudinal_curve_validation_test.cppdata/lattice/fsm_safety_brake.hppreplayer/replayer_data_process/replayer_data_process.hppTesting/jerk_limited_stop_test.cppdata/lattice/condition_sampler.cppTesting/routing_map_guard_test.cppdata/plan/start_point_data.cppTesting/scene_replay_foundation_test.cppdata/lattice/trajectory_evaluator.cppreplayer/replayer_data_process/replayer_computation_policy.hpptasks/plan/lattice_task.cpp83e73599fba8e70f760bfac62546a4fc59310c2e1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复起步加速度与制动恢复轨迹连续性
按舒适加速度限制巡航候选内部峰值，补充低速负加速度释放后恢复的 jerk 曲线，并防止浮点残差产生极短分段。
缓刹保持规划拼接状态并按帧间隔推进，连续回放通过生产历史匹配重建起点；记录安全接管、低速归零与兜底调整原因。
验证：联合变更的 220 项纵向及回放测试通过，补充换向和撤销搜索等待 19 项通过；201 帧 CPU 开环连续纵向回放通过，pnc_node 分布式编译通过。
2026-11-12 16:50:50 +080083e73599fba8e70f760bfac62546a4fc59310c2efix: 修复起步加速度与制动恢复轨迹连续性editTesting/jerk_limited_stop_test.cppeditTesting/scene_replay_foundation_test.cppeditdata/lattice/trajectory1d_generator.cppeditdata/lattice/fsm_safety_brake.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/start_point_data.cppeditdata/lattice/trajectory_evaluator.cppedittasks/plan/lattice_task.cppeditdata/lattice/condition_sampler.cppeditreplayer/replayer_data_process/replayer_data_process.hppeditTesting/longitudinal_curve_validation_test.cppeditTesting/routing_map_guard_test.cppeditreplayer/replayer_data_process/replayer_computation_policy.hpp
- docs/pnc_algorithm_replay_plan.htmlTesting/pnc_case_cli_test.cppTesting/compact_scene_service_handler_test.cppTesting/scene_replay_foundation_test.cppdocs/pnc_algorithm_replay/usage.mdreplayer/scene_data/compact_scene_archive_codec.hppTesting/analysis_server_app_test.cppTesting/compact_replay_session_test.cppreplayer/scene_data/compact_scene_archive_codec.cpptools/pnc_proto_bag_to_scene/main.cppTesting/case_orchestrator_test.cppb3fdf582355c413a6b38c8b8265891a712d21f0b1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 逐帧保存回放归档的动态状态
默认每块保存一帧 Bootstrap，拒绝新的多帧有损写入；继续兼容历史多帧归档读取，文档说明旧文件缺失状态必须从原 bag 重建。
更新归档及服务测试，补充历史布局读取回归。原 bag 默认转换后 201 帧共 9 项 FSM 状态逐项与原始快照一致。
2026-11-12 16:50:50 +0800b3fdf582355c413a6b38c8b8265891a712d21f0bfix: 逐帧保存回放归档的动态状态editTesting/compact_scene_service_handler_test.cppeditdocs/pnc_algorithm_replay_plan.htmleditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/compact_scene_archive_codec.hppedittools/pnc_proto_bag_to_scene/main.cppeditTesting/case_orchestrator_test.cppeditTesting/compact_replay_session_test.cppeditTesting/scene_replay_foundation_test.cppeditTesting/pnc_case_cli_test.cppeditdocs/pnc_algorithm_replay/usage.mdeditTesting/analysis_server_app_test.cpp
- Testing/experiment_session_test.cppdocs/pnc_algorithm_replay/usage.mdreplayer/algorithm_replay/experiment_session.cppfd04b7994fcb8f94be0a86a14e90f1e8cc9067f91794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 连续回放前拒绝重复与倒退时间戳
在执行任何规划任务之前检查整窗源时间和规划时间，明确拒绝重复、逆序及混合缺失时钟；保留原始索引、Recorded 展示和单帧执行能力，不自动删除重复记录。
验证异常输入不调用 runner，真实重复时间戳场景执行任务数为零。
2026-11-12 16:50:50 +0800fd04b7994fcb8f94be0a86a14e90f1e8cc9067f9fix: 连续回放前拒绝重复与倒退时间戳editTesting/experiment_session_test.cppeditdocs/pnc_algorithm_replay/usage.mdeditreplayer/algorithm_replay/experiment_session.cpp
- replayer/algorithm_replay/profile_collectors.cppTesting/profile_collectors_test.cppreplayer/algorithm_replay/assertions/longitudinal_trajectory.yamld1e335d4c8e5b01c977047a62a036cefdd3438551794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 使用本次规划起点校验纵向连续性
用本次有效起点和实际继承拼接点替代录制结果对照，速度与加速度连续性容差收紧到 1e-5；缺失值及未诊断调整失败。
为合法安全接管、低速归零和制动兜底保留显式诊断，增加全轨迹加速度与 jerk 观测以及误报漏报回归测试。
验证：相关测试通过，201 帧 CPU 连续纵向回放的严格连续性检查全部通过。
2026-11-12 16:50:50 +0800d1e335d4c8e5b01c977047a62a036cefdd343855fix: 使用本次规划起点校验纵向连续性editTesting/profile_collectors_test.cppeditreplayer/algorithm_replay/assertions/longitudinal_trajectory.yamleditreplayer/algorithm_replay/profile_collectors.cpp
- replayer/scene_data/generated/boost_nested_serialization_audit.yamltools/pnc_proto_mapper/test_draft_persistence_policy.pyreplayer/scene_data/generated/boost_nested_omitted_leaves.csvtools/pnc_proto_mapper/draft_persistence_policy.pyreplayer/scene_data/plan_frame_persistence_policy.yamldocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdreplayer/scene_data/generated/boost_nested_leaf_matrix.csvreplayer/scene_data/generated/boost_compact_persistence_diff.yaml29f929a6a3cc23e148f64a4499f2cb7d83b57cf31794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 同步旧耗时字段废弃后的持久化审计
审计分类遵守 Full mapping 的 schema_exclude，将 plan_thread_time_s_ 识别为 Deprecated 并保留 Compact ID 54，避免误判为 Full-only。
保留已有配置输入的审查状态，登记替代耗时观测字段的 RecordedDebug 合同，重新生成顶层策略、递归叶子证据与持久化目录。
验证：check-legacy-persistence、check-generated、check-proto-breaking 全部通过；11 项耗时采集及 Full/Compact/Candidate 编解码测试通过。
2026-11-12 16:50:50 +080029f929a6a3cc23e148f64a4499f2cb7d83b57cf3fix: 同步旧耗时字段废弃后的持久化审计editreplayer/scene_data/generated/boost_nested_leaf_matrix.csveditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/scene_data/generated/boost_compact_persistence_diff.yamledittools/pnc_proto_mapper/test_draft_persistence_policy.pyeditreplayer/scene_data/generated/boost_nested_omitted_leaves.csveditreplayer/scene_data/generated/boost_nested_serialization_audit.yamleditreplayer/scene_data/plan_frame_persistence_policy.yamledittools/pnc_proto_mapper/draft_persistence_policy.py
- ssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/scenarios/truck_general_planner.hssep/scenarios/truck_multi_seg_general_planner.hssep/scenarios/junction_exit_validation.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/junction_adjustment_policy.hssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.cce272fef1a3cdf5b3b606b354810d82419ba992911794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 向旧分支移植普通路口多段搜索约束
移植 feat_daxie_proto 的 7f5875a5c，适配旧 SsepPlanner 和 SsepInput 接口。
接入路口授权、剩余换向预算、当前方向、曲率比例及出口直尾约束，
保持录制车辆模型不变，并验收真实发布路径的几何与完整车体碰撞。
补齐实时 KEB 真实执行终点的曲率验收，保留旧优化器的修复方式。
验证：SSEP 搜索、活动倒车重搜、换向预算及 KEB 边界共 43 项测试通过。
2026-11-12 16:50:50 +0800e272fef1a3cdf5b3b606b354810d82419ba99291feat: 向旧分支移植普通路口多段搜索约束editssep/scenarios/truck_multi_seg_general_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_general_planner.heditssep/ssep_planner.cceditssep/test/rigid_truck_parking_validation_test.ccaddssep/scenarios/junction_adjustment_policy.haddssep/scenarios/junction_exit_validation.heditssep/scenarios/scenario_planner_factory.h
- data/plan/ssep_data.cppdocs/ssep/junction_adjustment.mdalgorithm/plan/keb_optimizer.hpptasks/plan/ssep_task.cppdata/ssep/ssep_scenario_config_loader.cppdata/vehicle/vehicle_destination.cppdata/plan/junction_adjustment_state.hppdata/config/cfg_long_plan.cpptasks/other_tasks/stitch_path_data_to_path.hppTesting/routing_transition_test.cppplan/scenarios/prepare_scenario.cppreplayer/scene_data/compact_custom_field_proto_codec.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cppdata/plan/ssep_task_context.cpptasks/plan/pjpo_task.cppdata/ssep/ssep_ec.cppdata/ssep/ssep_activation.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cppdata/ssep/base_stop_line_filter.cppdata/plan/ssep_task_context.hppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.hppTesting/disable_stop_regression_test.cppTesting/reference_line_replan_test.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamltasks/deciders/long_decider/constrain_decider.cppTesting/junction_geometry_retry_test.cpptasks/plan/keb_utils.cppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_scenario_config.cppdata/ssep/region_builder.cppdata/plan/junction_adjustment_geometry.hppdata/plan/search_reference_prefix.hpptasks/plan/keb_lane_follow_path_task.cppTesting/junction_guide_diagnostic_test.cppTesting/continuous_junction_replan_test.cppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/plan/ssep_data.hppdata/plan/guide_line.cpptasks/plan/keb_path_optimize_task.cppdata/ssep/out_yard_junction_ec.cpptasks/other_tasks/junction_adjustment_execution.hpptasks/deciders/search_decider/seaside_junction_search_decider.cpptasks/plan/ssep_task.hppTesting/bulk_speed_limit_test.cppscenarios/task_condition_evaluator.cppdata/ssep/seaside_junction_ec.cppTesting/search_decider_lifecycle_test.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppTesting/scene_replay_foundation_test.cppdata/ssep/ssep_ec.hppTesting/stacking_safe_distance_test.cppalgorithm/plan/keb_optimizer.cppTesting/search_reference_prefix_test.cppTesting/scenario_search_exit_test.cppreplayer/scene_data/full_proto_custom_encoder.cpptasks/other_tasks/stitch_path_data_to_path.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlTesting/ssep_output_test_utils.hppproto/config.protodata/ssep/normal_junction_ec.cppdata/ssep/base_stop_line_filter.hpptasks/deciders/long_decider/constrain_decider.hppTesting/keb_gate_filter_test.cppplan/prepare/prepare_state.cppscenarios/stage.cppTesting/parking_pass_progress_test.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/plan/path_direction_data.cpptasks/plan/keb_utils.hppdata/plan/search_reference_prefix.cpptasks/plan/keb_path_optimize_task.hppreplayer/scene_data/plan_frame_field_roles.csvscenarios/normal_junction_scenario/normal_junction_first_stage.cppTesting/CMakeLists.txtTesting/ssep_scenario_config_lifecycle_test.cpptasks/plan/keb_lane_follow_path_task.hppdata/ssep/ssep_scenario_config.hppbde026cc22e18860dd4b85208734faee049970fe1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 向旧分支接入路口多段执行与连续搜索
移植 feat_daxie_proto 的 671c960a5 和 7a69f0b36，保留旧分支输入输出接口。
按具体路口及入口出口授权多段搜索，绑定任务与累计换向进度，
接入分段引导、真实换向点停车、方向锁和连续路口交接。
适配旧帧环境尚未挂接时的请求身份检查，避免正常换向误触发重搜。
同步配置与跨帧状态的 Full/Compact/Candidate 合同、生成物和往返测试。
保留旧分支停车及起步直行状态；新增执行、配置、限速和 SS 连续帧回归。
依赖新版场景 wire 的可选录制诊断未迁入，未改变旧场景格式。
验证：pnc_node 分布式编译通过；共 2442 项测试通过、147 项跳过。
Proto scaffold/generate/check-generated/check-proto-breaking 通过。
2026-11-12 16:50:50 +0800bde026cc22e18860dd4b85208734faee049970fefeat: 向旧分支接入路口多段执行与连续搜索addTesting/junction_geometry_retry_test.cppeditdata/ssep/ssep_ec.hppeditproto/plan_data.protoedittasks/plan/keb_lane_follow_path_task.cppeditreplayer/scene_data/plan_frame_field_roles.csvedittasks/plan/keb_path_optimize_task.cppeditdata/ssep/ssep_scenario_config_loader.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/base_stop_line_filter.hppedittasks/deciders/search_decider/bridge_junction_search_decider.cppeditTesting/scenario_search_exit_test.cppeditscenarios/normal_junction_scenario/normal_junction_first_stage.cppedittasks/plan/pjpo_task.cppadddata/plan/search_reference_prefix.cppadddata/plan/junction_adjustment_state.hppeditdata/ssep/bridge_junction_ec.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppeditdata/ssep/normal_junction_ec.hppeditTesting/continuous_junction_replan_test.cppeditdata/ssep/ssep_ec.cppadddata/plan/junction_adjustment_geometry.hppeditreplayer/scene_data/full_proto_custom_encoder.cppeditscenarios/task_condition_evaluator.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditTesting/scene_replay_foundation_test.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/stacking_safe_distance_test.cppeditdata/ssep/ssep_scenario_config.cppeditTesting/routing_transition_test.cppeditdata/plan/path_direction_data.cppeditdata/plan/ssep_task_context.hppedittasks/plan/keb_utils.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.hppeditTesting/CMakeLists.txteditTesting/disable_stop_regression_test.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/region_builder.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppaddtasks/other_tasks/junction_adjustment_execution.hppeditdata/ssep/out_yard_junction_ec.cppaddTesting/ssep_output_test_utils.hppadddocs/ssep/junction_adjustment.mdedittasks/deciders/other_decider/replan_decider.cppedittasks/plan/ssep_task.hppeditdata/ssep/into_yard_junction_ec.cppeditreplayer/scene_data/config_proto_codec.cppedittasks/plan/ssep_task.cppeditdata/ssep/seaside_junction_ec.cppeditTesting/search_decider_lifecycle_test.cppeditalgorithm/plan/keb_optimizer.hppeditTesting/keb_gate_filter_test.cppedittasks/other_tasks/stitch_path_data_to_path.hppeditdata/plan/ssep_data.hppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditdata/vehicle/vehicle_destination.cppedittasks/plan/keb_lane_follow_path_task.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsonedittasks/deciders/search_decider/seaside_junction_search_decider.cppadddata/plan/search_reference_prefix.hppaddTesting/search_reference_prefix_test.cppeditalgorithm/plan/keb_optimizer.cppeditdata/ssep/ssep_scenario_config.hppaddTesting/junction_guide_diagnostic_test.cppeditdata/plan/ssep_data.cppeditplan/prepare/prepare_state.cppeditTesting/reference_line_replan_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/ssep_path_corridor_test.cppeditproto/config.protoeditdata/ssep/ssep_activation.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/base_stop_line_filter.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/plan/keb_utils.hppeditTesting/bulk_speed_limit_test.cppeditdata/plan/ssep_task_context.cppeditplan/scenarios/prepare_scenario.cppedittasks/plan/keb_path_optimize_task.hppeditscenarios/stage.cpp
- ssep/test/fixtures/junction_uturn_20261111_110413.pbssep/test/CMakeLists.txtssep/scenarios/truck_multi_seg_general_planner.hssep/test/junction_multi_segment_replay_test.cced430823843bbe0ed1063760c87500fd6450e4701794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 路口单段优化失败后继续搜索多段路径
保留前进候选的正常优先级；当其优化失败且剩余预算允许两次换向时，在原截止时间内重新搜索含倒车段的候选。修复阶段复用多段泊车的精细运动学和动态约束权重，保持原有几何、全车碰撞和出口验收标准，并保留粗搜索路径用于诊断。
加入 2026-11-11 11:04:13 原始失败场景回归，覆盖 0、1、2 次换向预算。原场景 CPU 回放成功，72 项相关测试通过，pnc_node 编译通过。
2026-11-12 16:50:50 +0800ed430823843bbe0ed1063760c87500fd6450e470fix: 路口单段优化失败后继续搜索多段路径addssep/test/fixtures/junction_uturn_20261111_110413.pbeditssep/scenarios/truck_multi_seg_general_planner.heditssep/test/CMakeLists.txtaddssep/test/junction_multi_segment_replay_test.cc
- Testing/search_reference_prefix_test.cppdata/ssep/ssep_ec.cpp073972bbfed010c3237a9f0b44660c5b89e447801794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐路口搜索主帧参数避免成功后无路径停车
在正式请求配置入口复用 ConfigureSsepInputParams，让主帧和异步搜索线程使用一致的车辆模型。避免主帧默认零轴距、零转角使执行曲率上限为零，导致三段搜索成功后入口引导线被拒绝。
新增真实请求配置、三段划分及第一段 GuideLine::Process 回归，并检查重复配置不会重复应用曲率比例。771 项相关测试通过、133 项按条件跳过，pnc_node 编译通过。现场 bag 配对成功搜索记录的 9 帧路径消费对照全部恢复有效引导线和规划路径；未覆盖完整 FSM、纵向和车辆闭环。
2026-11-12 16:50:50 +0800073972bbfed010c3237a9f0b44660c5b89e44780fix: 补齐路口搜索主帧参数避免成功后无路径停车editTesting/search_reference_prefix_test.cppeditdata/ssep/ssep_ec.cpp
- Testing/step_align_distance_source_test.cppplan/prepare/prepare_status.cpp6b82dc6ed53a127728ebdf16d4c91cdbe6de305e1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 路口多段调整自动启用原地转向
按当前任务绑定的路口调整状态启用原地转向，重规划期间保持，任务退出、失效或取消后自动清除。沿用现有转向到位起步检查，并保留 IMV 排除及全局开关行为。
验证：pnc_node 和 foundation 测试目标编译通过；原地转向与准备阶段 17 个测试通过。
2026-11-12 16:50:50 +08006b82dc6ed53a127728ebdf16d4c91cdbe6de305efix: 路口多段调整自动启用原地转向editTesting/step_align_distance_source_test.cppeditplan/prepare/prepare_status.cpp
- replayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/replayer_data_process/replayer_data_process.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/map/reference/reference_road_section.cpptools/pnc_proto_mapper/draft_persistence_policy.pyreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/compact_inherited_container_contracts.yamlreplayer/scene_data/compact_numeric_policy.yamlreplayer/replayer_data_process/replayer_data_process.hppreplayer/scene_data/generated/boost_compact_persistence_diff.yamldocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/compact_driving_corridor_restore_test.cppreplayer/scene_data/plan_frame_persistence_policy.yamlreplayer/scene_data/plan_frame_full_mapping.yamldocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protoreplayer/scene_data/remaining_plan_proto_codec.hpp3e3c889fbffec28a735ce579187543950aff279e1794473450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐新快照备用参考线重建数据
将备用本地地图索引和状态纳入 Compact ReplayInput，更新字段合同及生成物。
回放使用同帧路由位姿和精确地图重建几何，绕过在线降频门控；
参考线匹配缺失时恢复匹配，失败返回诊断，避免路口构建断言。
不为旧 bag 补造缺失索引。
增加 Full/Recorded/Candidate 往返、索引越界与新 writer 完整恢复测试。
真实地图集成测试通过独立子进程隔离全局 HDMap/ROS 状态，
并使用专用成功退出码防止异常退出被误判为通过。
验证：分布式编译、生成物及 Proto breaking 检查通过；
启用集成测试后 580 项通过、13 项跳过，失败输入正确返回失败。
2026-11-12 16:50:50 +08003e3c889fbffec28a735ce579187543950aff279efix: 补齐新快照备用参考线重建数据editTesting/compact_driving_corridor_restore_test.cppeditreplayer/scene_data/plan_frame_persistence_policy.yamleditreplayer/scene_data/compact_inherited_container_contracts.yamleditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/boost_compact_persistence_diff.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/replayer_data_process/replayer_data_process.cppeditreplayer/replayer_data_process/replayer_data_process.hppeditreplayer/scene_data/remaining_plan_proto_codec.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/remaining_plan_proto_codec.hppeditdata/map/reference/reference_road_section.cppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditreplayer/scene_data/plan_frame_field_roles.csvedittools/pnc_proto_mapper/draft_persistence_policy.py
- replayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/ssep/ssep_util.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/boundary/driving_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppTesting/roadside_contour_test.cppreplayer/scene_data/generated/container_schema_inputs.jsontasks/deciders/other_decider/replan_decider.hppTesting/ssep_path_corridor_test.cppplan/prepare/prepare_ogm.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlhmi/draw/draw_perception.cppdata/ssep/forward_ec.cppdata/obstacle/ogm.hppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamlTesting/keb_gate_filter_test.cppplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppdata/obstacle/ogm.cppreplayer/scene_data/generated/state_schema_inputs.jsonef98592a203ae633ad1ed6057e6bcc5c728622d31794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 115 防护点云并分离搜索与碰撞建图
新增默认关闭的 115 点云碰撞开关，关闭时保留搜索和侧避约束，
显示固定使用特殊点云颜色，并补齐 Full/Compact 配置编解码。
搜索按需从冻结采样点独立建图，散料出场保留原始点云入口；
精细采样按用途去重，避免普通障碍被其他类型挤掉，并保留既有搜索类型过滤。
挡停重搜使用聚类多边形距离及包围框筛选，正确处理相交和包含。
验证：93 项相关测试通过，主程序编译通过；独立暂存源码的生成物、
协议兼容检查及混合文件语法检查通过。
2026-11-12 16:50:51 +0800ef98592a203ae633ad1ed6057e6bcc5c728622d3feat: 支持 115 防护点云并分离搜索与碰撞建图edittasks/plan/keb_utils.cppeditdata/config/cfg_func_sw.hppeditproto/config.protoeditdata/ssep/ssep_util.cppeditreplayer/scene_data/config_proto_codec.cppeditplan/prepare/prepare_ogm.cppeditTesting/scene_replay_foundation_test.cppeditdata/boundary/driving_corridor_test.cppeditdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/deciders/other_decider/replan_decider.cppeditplan/prepare/prepare_ogm.hppeditreplayer/scene_data/generated/state_schema_inputs.jsonedittasks/deciders/other_decider/replan_decider.hppeditTesting/ssep_path_corridor_test.cppeditdata/obstacle/ogm.cppeditdata/ssep/forward_ec.cppeditTesting/keb_gate_filter_test.cppeditTesting/roadside_contour_test.cppeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/generated/container_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamledithmi/draw/draw_perception.cpp
- ssep/scenarios/truck_multi_seg_general_planner.h66023da3b9c53d541aafa5c44b5ee9d33e51bdb91794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复路口多段候选优化失败后提前结束搜索
将优化和最终可行性验收纳入终点候选回调，拒绝候选后保留搜索队列继续尝试；仅缓存并返回完整验收通过的路径，每次规划清空候选状态。
路口调整搜索保留 5% 曲率余量，最终曲率与碰撞验收保持原约束。现场 2026_11_11_22_11_43 场景 CPU 回放两次通过，输出前进、倒车、前进三段路径；验证短预算超时不输出路径。
2026-11-12 16:50:51 +080066023da3b9c53d541aafa5c44b5ee9d33e51bdb9fix: 修复路口多段候选优化失败后提前结束搜索editssep/scenarios/truck_multi_seg_general_planner.h
- ssep/test/scene_replay_obstacle_inputs_test.ccssep/ssep_planner.ccssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.cc4524402866e000a52fb266bce9cd66e8f68e2e951794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 路口多段搜索统一应用地图可行驶包络
junction_request 多段搜索在障碍层和约束层均保留地图 contour，
关闭起终点通道替代，避免搜索与最终碰撞验收使用不同可行驶区域。
同步在线和录制场景回放入口，保持非路口场景原有配置。
验证：分布式构建 ssep_planner_test；SceneReplayObstacleInputsTest 9/9 通过。
2026-11-12 16:50:51 +08004524402866e000a52fb266bce9cd66e8f68e2e95fix: 路口多段搜索统一应用地图可行驶包络editssep/ssep_planner.cceditssep/test/scene_replay_obstacle_inputs_test.cceditssep/maps/ogm_config_utils.heditssep/maps/ogm_config_utils.cc
- Testing/out_yard_bag_regression_test.cpptasks/deciders/long_decider/constrain_decider.cppTesting/bulk_speed_limit_test.cppdocs/bulk_open_space_speed_limit.md16417fbd8fdd981245cfd775e2094320a0fab51f1794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按有限路径与车身交集判断区域限速
用有限路径带与配置多边形的真实交集替代全局 SL 顶点极值，
避免远处及侧方长区域错误产生 0.8 m/s 限速；保留 10 m 预瞄、
凹区域分离区间、转角连接及车辆完全离区后的释放逻辑。
挂车尾部按挂接点尺寸计算，补充实车铰接轮廓和倒车模式检查。
验证：bulk_speed_limit_test 65/65 通过；21:32 bag 开环回放 111 帧，
原本误限速的 5 帧均未再生成 configured_rectangle_0。
2026-11-12 16:50:51 +080016417fbd8fdd981245cfd775e2094320a0fab51ffix: 按有限路径与车身交集判断区域限速editTesting/bulk_speed_limit_test.cppeditTesting/out_yard_bag_regression_test.cppeditdocs/bulk_open_space_speed_limit.mdedittasks/deciders/long_decider/constrain_decider.cpp
- data/plan/ssep_data.cppdocs/ssep/junction_adjustment.mddata/constrain/long_target.cppdata/map/pnc_map/routing_extension/routing_data.cppscenarios/task_condition_evaluator.hppTesting/long_target_activation_test.cppdata/ssep/ssep_scenario_config_loader.cppdata/vehicle/vehicle_destination.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/routing_transition_test.cppreplayer/scene_data/compact_custom_field_proto_codec.cppdata/constrain/speed_hard_constrain.cppdata/plan/ssep_task_context.cppproto/decision.protodata/ssep/ssep_ec.cppTesting/ssep_path_corridor_test.cppplan/prepare/module.cppTesting/reverse_pickup_stage_selector_test.cppreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/pnc_scene/compact_replay_input.protodata/ssep/segment_speed_policy.cppdata/ssep/location_condition.hppTesting/reference_line_replan_test.cppreplayer/scene_data/config_proto_codec.cppdata/config/cfg_stage.cpptasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/compact_numeric_policy.yamldata/map/pnc_map/pnc_map.cpptasks/plan/keb_utils.cppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/other/segment_speed_task_start.cppdata/ssep/ssep_scenario_config.cppreplayer/scene_data/plan_frame_persistence_policy.yamldata/constrain/longitude_constrain.hppreplayer/scene_data/compact_proto_codec.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/lattice/trajectory1d_generator.cppdata/plan/ssep_data.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/constrain/longitude_constrain.cpptasks/plan/keb_path_optimize_task.cpptasks/other_tasks/junction_adjustment_execution.hppTesting/bulk_speed_limit_test.cppscenarios/task_condition_evaluator.cppTesting/cfg_scenarios_proto_codec_test.cppTesting/search_decider_lifecycle_test.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpptasks/deciders/other_decider/replan_decider.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cpptasks/other_tasks/stitch_path_data_to_path.cppdocs/ssep/segment_speed_rules.mddata/ssep/segment_speed_policy.hppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/longitude_constrain_proto_codec.cpptasks/deciders/long_decider/constrain_decider.hppdata/map/pnc_map/pnc_map.hppTesting/keb_gate_filter_test.cppdata/ssep/location_condition.cppdata/map/pnc_map/road_segments.cppdata/config/cfg_stage.hppscenarios/stage.cppTesting/parking_pass_progress_test.cppreplayer/scene_data/config_proto_codec.hppdata/other/segment_speed_task_start.hppreplayer/scene_data/generated/state_schema_inputs.jsonreplayer/scene_data/plan_frame_field_roles.csvTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/ssep_scenario_config.hpp948b9e07ac3393ebc488772bee0e8e878ef711741794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善路口多段执行和场景化分段限速
首尾前进段按配置选择横向规划器，中间调整段使用 SSEP；补齐
TaskConditionType、换向重搜等待、执行路径算距、出口路由匹配、
路口入口回视范围及同任务同段缓存归属，避免切段后无路径或状态反复切换。
复用 SSEP 触发规则配置 BULK_IN、BULK_OUT 和路口调整限速，支持
路口/转向列表、起终点位置及 lane/yard 条件；新任务路由成功后
冻结起点。支持 approach/departure 自定义距离分档及有限生效区间，
补齐离区后正常巡航提速候选，同时保持独立安全约束和首点 v/a 连续。
终端停车模式继续沿用保守的停车候选，不额外引入离区提速。
同步 Full/Compact 字段、数值精度策略、缺字段兼容和配置文档。
验证：生成与协议兼容性检查通过，pnc_node 分布式构建成功；
相关主体回归 1369 项通过、15 项可选测试跳过，另补 KEB 459 项通过、重搜 601 项通过（133 项可选测试跳过）。
2026-11-12 16:50:51 +0800948b9e07ac3393ebc488772bee0e8e878ef71174feat: 完善路口多段执行和场景化分段限速editdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdocs/ssep/junction_adjustment.mdeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamledittasks/other_tasks/junction_adjustment_execution.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/plan_frame_persistence_policy.yamleditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditTesting/long_target_activation_test.cppeditdata/constrain/longitude_constrain.hppeditdata/lattice/trajectory1d_generator.cppeditdata/plan/ssep_data.hppeditdata/ssep/ssep_ec.cppeditTesting/bulk_speed_limit_test.cppeditTesting/ssep_path_corridor_test.cppeditTesting/reference_line_replan_test.cppeditreplayer/scene_data/compact_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/search_decider_lifecycle_test.cppeditdata/map/pnc_map/pnc_map.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/ssep_scenario_config.hppeditdata/map/pnc_map/routing_extension/routing_data.hppeditplan/prepare/module.cppedittasks/deciders/long_decider/constrain_decider.hppedittasks/plan/keb_utils.cppeditTesting/reverse_pickup_stage_selector_test.cppeditTesting/cfg_scenarios_proto_codec_test.cppadddata/ssep/segment_speed_policy.cppeditproto/plan_data.protoeditdata/ssep/location_condition.hppeditproto/config.protoedittasks/deciders/other_decider/replan_decider.cppeditdata/constrain/longitude_constrain.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/config_proto_codec.hppeditdata/ssep/ssep_scenario_config_loader.cppeditTesting/parking_pass_progress_test.cppeditreplayer/scene_data/longitude_constrain_proto_codec.cppeditscenarios/stage.cppeditdata/plan/ssep_data.cppeditscenarios/task_condition_evaluator.cppeditdata/ssep/ssep_scenario_config.cppeditdata/constrain/long_target.cppeditdata/constrain/speed_hard_constrain.cppedittasks/other_tasks/stitch_path_data_to_path.cppedittasks/plan/keb_path_optimize_task.cppeditTesting/routing_transition_test.cppadddata/other/segment_speed_task_start.hppeditreplayer/scene_data/cfg_scenarios_proto_codec.cppeditreplayer/scene_data/compact_numeric_policy.yamleditscenarios/task_condition_evaluator.hppeditTesting/keb_gate_filter_test.cppadddata/other/segment_speed_task_start.cppeditdata/ssep/location_condition.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditdata/plan/ssep_task_context.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/road_segments.cppadddocs/ssep/segment_speed_rules.mdeditproto/pnc_scene/compact_replay_input.protoadddata/ssep/segment_speed_policy.hppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/vehicle/vehicle_destination.cppeditproto/decision.protoeditdata/map/pnc_map/routing_extension/routing_data.cppeditreplayer/scene_data/config_proto_codec.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/live_compact_context_codec.hppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoTesting/pnc_case_cli_test.cppreplayer/scene_data/compact_scene_archive_codec.hppreplayer/scene_data/live_compact_context_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_scene_archive_codec.cppreplayer/scene_data/generated/config_schema_inputs.jsondocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppTesting/analysis_server_app_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbf2874b799504d9359cf96f89db1ceacc624374441794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容变基合并后的配置开关编号
保留已录制的点云碰撞开关字段 252，将上游倒车对准受阻开关调整到 253，重新生成配置合同和描述符。
Live 解码按已知旧版本迁移，Archive 按原始描述符迁移，均在原始完整性校验后执行，避免重编码数据再次迁移。补充双分支 true/false、输入保持、Recorded/Candidate 和异常合同测试，并修复 Protobuf 3.9 精确消息长度的解析边界。
旧上游读端不能解释新录制的字段含义，使用匹配的新回放 backend；具体兼容范围记录在字段合同文档。
2026-11-12 16:50:51 +0800f2874b799504d9359cf96f89db1ceacc62437444fix: 兼容变基合并后的配置开关编号editreplayer/scene_data/compact_scene_archive_codec.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/pnc_case_cli_test.cppeditproto/config.protoeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/analysis_server_app_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/live_compact_context_codec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/live_compact_context_codec.hppeditTesting/scene_replay_foundation_test.cpp
- Testing/out_yard_bag_regression_test.cppdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cppdata/other/flow_control.cppf6c749067063f69e8d87fc980c073f7fd92f93081794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免普通路口多段路径误判为进出库
普通路口调整的新 SSEP 包络不再根据任务遗留途经点标记为进出库用途。
对当前任务绑定有效的普通路口调整优先排除进出库判定，兼容旧录制中的错误包络，避免 routing 使用远处旧出库途经点而更新失败。
补充旧包络、重搜、取消与换任务、新接收任务的边界测试，以及现场 bag 的独立帧路由回归。
现场 14 帧均成功匹配出口 1087_0_0；明确记录 MOTION_DISABLE 快照缺少参考线导致的下游 RDP 限制，不宣称恢复行驶。
验证：pnc_node 编译通过；包络测试 280 项、基础测试 594 项通过，16 项可选用例跳过；现场 bag 单独执行通过。
2026-11-12 16:50:51 +0800f6c749067063f69e8d87fc980c073f7fd92f9308fix: 避免普通路口多段路径误判为进出库editTesting/out_yard_bag_regression_test.cppeditdata/plan/ssep_data.cppeditdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cpp
- Testing/disable_stop_regression_test.cppdata/constrain/disable_stop_range.cppTesting/straight_yard_stop_bag_test.cppTesting/CMakeLists.txtc255e0eaf81ae9ff4e8db38a01950c05d23584151794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 直行禁停开关覆盖穿堆场场景
移除直行过滤条件中对穿堆场的排除，使前后车道均属于堆场的直行连接也受
use_func_straight_out_yard_park 控制，修复路口 1016 在开关关闭后仍触发弯道禁停的问题。
保留入场、出场总开关及转弯、未知方向的原有行为。
扩展入场、出场和穿场单元回归，增加现场 bag 可选验证入口，检查关闭、开启、
再次关闭时的禁停数量，并输出首、中、末帧的实际路口属性与结果。
验证：19 项禁停及启动测试通过；使用录制版本 18a3d5efe 的 encoding 10 解码器、
精确匹配地图和本次生产过滤实现，三个选中帧均由基线 1/1/1 变为 0/1/0。
实包验证范围为独立帧禁停过滤；回放中的横向 DP 报错及完整轨迹不在本次验收范围。
2026-11-12 16:50:51 +0800c255e0eaf81ae9ff4e8db38a01950c05d2358415fix: 直行禁停开关覆盖穿堆场场景editdata/constrain/disable_stop_range.cppaddTesting/straight_yard_stop_bag_test.cppeditTesting/CMakeLists.txteditTesting/disable_stop_regression_test.cpp
- ssep/scenarios/truck_multi_segment_parking_planner.hssep/offboard/scene_replay/README.md53b57c871c6ebc304da9194340606d3c304f0a0f1794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免多段泊车调整搜索预算连续减半
外层细网格重试最多预留 2 秒且不超过剩余预算的 25%，为细步长调整保留有效搜索时间。保持原始请求总时限及轨迹硬约束，不引入 GPU 后端或专用搜索策略。
2026-11-12 16:50:51 +080053b57c871c6ebc304da9194340606d3c304f0a0ffix: 避免多段泊车调整搜索预算连续减半editssep/scenarios/truck_multi_segment_parking_planner.heditssep/offboard/scene_replay/README.md
- ssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/test/truck_bulk_exit_fallback_test.cce65503a044a3fe60b4a64842f3d27cd2c7ccd6c11794473451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 校验组合采样器子批次数量避免越界
子采样器返回数量与输入不一致时整体返回失败，避免空批次或短批次越界访问。覆盖空批次、数量不足、数量过多以及正常组合和空输入。该修复不依赖 GPU 批量搜索接入。
2026-11-12 16:50:51 +0800e65503a044a3fe60b4a64842f3d27cd2c7ccd6c1fix: 校验组合采样器子批次数量避免越界editssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/test/truck_bulk_exit_fallback_test.cc
- .vscode/tasks.json7866a325b2af037ba884a988b9722b98a4207bbb1794474125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 停止跟踪本地 VS Code 任务配置
移除误上传的 .vscode/tasks.json，沿用现有 .vscode 忽略规则；本地任务配置继续保留。
2026-11-12 17:02:05 +08007866a325b2af037ba884a988b9722b98a4207bbbchore: 停止跟踪本地 VS Code 任务配置delete.vscode/tasks.json
- Testing/ssep_path_corridor_test.cppTesting/parking_pass_progress_test.cppdata/ssep/forward_ec.cppdata/other/head_straight_progress.cppdata/ssep/ssep_ec.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/other/head_straight_progress.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppssep/data_structures/ssep_input.cc46bac704f8cd8cf0171d5c93fc6cbc299488d3471794483376000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在构造搜索起点时统一 IMV 固定车头航向
固定车头的 IMVGeneral 在实车、历史路径和默认起点构造时写入物理航向，
让环境清障与搜索使用相同姿态，请求封装不再后置修改起点。
提前恢复旧任务直行进度，避免锚点二次旋转；完成后不再继承禁翻头约束。
保持 BulkIn 各规划器原有航向约定，并让 IMVGeneral 录制方向与在线一致。
更新数据头文件审计摘要，不改变 Proto 字段。
验证：clang-format、生成一致性及协议检查通过；在线相关测试 288 项通过。
2026-11-12 19:36:16 +080046bac704f8cd8cf0171d5c93fc6cbc299488d347fix: 在构造搜索起点时统一 IMV 固定车头航向editdata/ssep/forward_ec.cppeditdata/other/head_straight_progress.hppeditdata/ssep/ssep_ec.hppeditdata/other/head_straight_progress.cppeditTesting/ssep_path_corridor_test.cppeditdata/ssep/ssep_ec.cppeditTesting/parking_pass_progress_test.cppeditdata/ssep/forward_ec.hppeditssep/data_structures/ssep_input.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- ssep/offboard/scene_replay/replay_scene_frame_cli.ccssep/offboard/ssep_planner_wrapper.ccssep/test/scene_replay_obstacle_inputs_test.cc1ceb4157158a2040e9552bd48a44e63f0a0441401794483383000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留 IMV 回放起始方向并显式兼容旧录制
旧反向作业录制在构建环境前恢复物理航向，同步转换前进和后退标记，
输出快照记录实际使用的搜索输入，不再无条件清空初始方向。
仅通过 legacy_imv_unspecified_start_direction 命令行开关忽略旧 writer
的占位方向，默认保留录制约束。新增六种姿态与方向组合的回放回归测试。
验证：相关搜索及回放测试 28 项通过；保留快照的 CPU 回放通过对应验收。
原始现场路径当前不可用，本轮使用保留快照；未测试 GPU、未部署。
2026-11-12 19:36:23 +08001ceb4157158a2040e9552bd48a44e63f0a044140fix: 保留 IMV 回放起始方向并显式兼容旧录制editssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/offboard/ssep_planner_wrapper.cceditssep/test/scene_replay_obstacle_inputs_test.cc
- Testing/routing_map_guard_test.cppdata/app/fsm/motion_fsm/motion_fsm.cppTesting/compact_driving_corridor_restore_test.cppdata/constrain/long_target.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/lattice/obstacle_stop_terminal.hppTesting/long_target_activation_test.cpp331691139fc69741811f352d04198b64a277c6341794489666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧障碍停车末端范围并同步状态机完成判定
将障碍停车末端收敛范围收紧为 0.10 米，范围外保留真实停车目标。
FSM 使用有效终点和当前同一约束判断完成及保持，核对任务、方向和路径段，保留安全接管优先级。
补充末端接近、状态生命周期及现场 bag 拒绝提前完成的回归测试。
2026-11-12 21:21:06 +0800331691139fc69741811f352d04198b64a277c634fix: 收紧障碍停车末端范围并同步状态机完成判定editdata/constrain/long_target.cppeditTesting/compact_driving_corridor_restore_test.cppadddata/lattice/obstacle_stop_terminal.hppeditTesting/long_target_activation_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cppeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- algorithm/plan/lattice.cppdata/plan/start_point_data.cppTesting/scene_replay_foundation_test.cpp9d562c88066bcb33d0f9ea2a2695777f8bdf7a431794489666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持低速恢复规划的纵向拼接连续性
有效且可匹配的历史轨迹在低速及停稳反馈下继续提供纵向起点，保留历史失效和换向等回退。
拒绝首点速度或加速度不一致的历史停车曲线续接，由统一起点重建候选。
覆盖反馈抖动、跨模式继承、无历史回退及零速历史保持。
2026-11-12 21:21:06 +08009d562c88066bcb33d0f9ea2a2695777f8bdf7a43fix: 保持低速恢复规划的纵向拼接连续性editdata/plan/start_point_data.cppeditTesting/scene_replay_foundation_test.cppeditalgorithm/plan/lattice.cpp
- replayer/algorithm_replay/profile_collectors.cppTesting/profile_collectors_test.cpp21f6d73c20382ecf76f6273eb1ad68c260f79ff61794489666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 校准纵向回放连续性检查并记录轨迹峰值速度
正常规划按实际统一拼接点检查首点，不再由停稳反馈推断输出必须为零。
采集全部轨迹采样点的速度峰值并拒绝非有限值，补充相应回归测试。
验证：600 条现场快照分 5 窗口连续回放通过；366 项测试通过，1 项可选地图测试跳过。
2026-11-12 21:21:06 +080021f6d73c20382ecf76f6273eb1ad68c260f79ff6fix: 校准纵向回放连续性检查并记录轨迹峰值速度editreplayer/algorithm_replay/profile_collectors.cppeditTesting/profile_collectors_test.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hfb48ad35966a05b5ad61c4b95054c8c648f3c88e1794494136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持拖挂停车零拉直距离并保持终点位姿
严格解析非负尾段距离，保留小于搜索步长的显式值；零距离禁用反向直线预采样和额外软拉直约束。
每次重建优化问题后固定停车终点位置、车头与挂车朝向，覆盖普通及分阶段优化回归。
2026-11-12 22:35:36 +0800fb48ad35966a05b5ad61c4b95054c8c648f3c88efix: 支持拖挂停车零拉直距离并保持终点位姿editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- data/ssep/trailer_parking_safety.cppTesting/trailer_parking_safety_test.cppTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/forward_ec.cpp03a1a021aaac284062277fafbf4d62f9e5b4dab41794494151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定动态拉直场景并优先使用显式距离
按实际 planner、车型及触发条件重新选取首条规则，清理跨请求残留；显式尾段优先，仅拖挂多段停车按开关启用动态计算。
动态距离含余量限制为 20 米并保持非有限输入防御；非法开关告警后按 false 处理，不中断环境构建。
验证：配置生命周期 184 项、拖挂安全 9 项测试通过。
2026-11-12 22:35:51 +080003a1a021aaac284062277fafbf4d62f9e5b4dab4fix: 限定动态拉直场景并优先使用显式距离editdata/ssep/trailer_parking_safety.cppeditTesting/trailer_parking_safety_test.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/forward_ec.cpp
- ssep/scenarios/two_stage_planner_composer.hssep/test/imv_turnaround_reference_test.ccssep/test/imv_parking_history_test.ccssep/scenarios/imv_general_planner.hssep/scenarios/imv_search_extra_params.hssep/data_structures/imv_terminal_straight.hssep/scenarios/scenario_planner_factory.hssep/scenarios/scenario_planner_interface.hssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/test/head_straight_distance_test.ccdocs/ssep_scenario_config_lifecycle.md4b9e03128b8d4259d43cc72eb65425a014b26c8f1794494165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 让 IMV 拉直距离贯穿搜索优化和输出验收
General 和多段停车读取显式尾段，已进入直线时仅补剩余距离，阻止未验收历史路径绕过约束。
途经点不重复施加终点尾段；输出沿用 planner 实际约束，保留精确入口并校验几何与曲率；起终重合时仍完成待执行途经点。
同步拉直配置语义文档，相关 IMV 与拖挂规划回归共 65 项通过。
2026-11-12 22:36:05 +08004b9e03128b8d4259d43cc72eb65425a014b26c8ffix: 让 IMV 拉直距离贯穿搜索优化和输出验收editssep/scenarios/scenario_planner_factory.heditssep/ssep_planner.cceditssep/scenarios/two_stage_planner_composer.heditssep/scenarios/imv_general_planner.heditssep/test/imv_turnaround_reference_test.cceditssep/scenarios/scenario_planner_interface.heditssep/data_structures/imv_terminal_straight.heditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_search_extra_params.heditssep/test/imv_parking_history_test.cceditssep/test/head_straight_distance_test.cceditdocs/ssep_scenario_config_lifecycle.md
githttp://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranchenranStarted by upstream project "orin-module-slave32" build number 5,6375637orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_jiaxingdongfangtegangpncBranchfeat_daxie_proto_oldhdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#22632263false22631401680SUCCESS1794475299641http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/2263/- tasks/deciders/long_decider/constrain_decider.cppdata/app/cmd/cmd_dead_lock_force_park.cppdata/app/cmd/cmd_dead_lock.cppce187d7e7fac65d6d14bf02e7dc3cc3297137bd31794469360000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: DeadLock新的停止点在1m以内车辆不启动
2026-11-12 15:42:40 +0800ce187d7e7fac65d6d14bf02e7dc3cc3297137bd3feat: DeadLock新的停止点在1m以内车辆不启动editdata/app/cmd/cmd_dead_lock_force_park.cppeditdata/app/cmd/cmd_dead_lock.cppedittasks/deciders/long_decider/constrain_decider.cpp
- tasks/deciders/long_decider/constrain_decider.cppcccbe7a1d3b143e58d348e50b327d24ed71ef9f31794469360000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: DeadLock 使用历史纵向约束判断近距离停车锁存状态
2026-11-12 15:42:40 +0800cccbe7a1d3b143e58d348e50b327d24ed71ef9f3fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态edittasks/deciders/long_decider/constrain_decider.cpp
- Testing/sc_rotation_test_state.hppsink/ros_sink_ctrl_reference.cppdata/plan/ssep_data.cppTesting/sc_turn_in_place_mode_test.cppdata/vehicle/sc_turn_in_place_mode.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppTesting/sc_rotation_publish_replay.cppdata/vehicle/sc_turn_in_place_mode.hppTesting/sc_rotation_entry_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppba2ad480e207e2b87af4d2ebfddddbac6a54147f1794473810000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: require confirmed stop before SC rotation
Route pending turns through MOVE_NSTOP and MOTION_STOP before entering MOVE_PREPARE. Remove rotation recovery shortcuts and gate published rotation activation to preparation.
Advance the outgoing SSEP segment during a confirmed stop, including start rotations propagated from an end-point request. Add FSM, publication, and handoff regression coverage.
2026-11-12 16:56:50 +0800ba2ad480e207e2b87af4d2ebfddddbac6a54147ffix: require confirmed stop before SC rotationeditTesting/sc_turn_in_place_mode_test.cppeditdata/vehicle/sc_turn_in_place_mode.cppeditTesting/sc_rotation_entry_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditTesting/sc_rotation_publish_replay.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppaddTesting/sc_rotation_test_state.hppeditsink/ros_sink_ctrl_reference.cppeditdata/plan/ssep_data.cpp
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