orinmastercheckallnoOTApublicregionalldeviceChoicefalsemsgBranchrc_dev_qiangang_configrslidarSDKBranchnorslidarSdkNewBranchnocameraDriverBranchnologinSyncToolBranchnosystemRosBranchnonodeManagerBranchnothirdpartyBranchnounifiedSystemMonitorBranchnorosBridgeBranchnohdcontrolBranchnoversionsObserverBranchnocacheBagNodeBranchnosystemMonitorBranchnoperformanceAnalystBranchnoscheduleManagerBranchnoimvSpreaderDetectionBranchnocraneAlignBranchnomrpt2BranchnowarningModuleBranchnorminterpreterBranchnonodeManagerOnlineBranchnortspRelayerBranchnohesaiLidarBranchnonewTruckSpreaderDetectionBranchnorcinterpreterBranchnopncBranchnoguardianBranchfeat_guardian_ttc_predictionstaticTransformBranchnomsfLocBranchnomsfAssistantBranchnohdmapBranchnoperipheralControllerBranchnopredictionBranchnolaneDetectionBranchnodataCollectionBranchnotosVisualizeBranchnosinsCalibrationHmiBranchnotoolsBranchnosegmentationBranchnocontrolBranchnohdmapCloudBranchnonodeManagerHmiBranchnogroundmarkerDetectionBranchnocalibrationToolsBranchnosimulatorBranchnosnapshotUploadBranchnohdmapInterfaceBranchnospreaderSegmentationBranchnotrafficLightDetectionBranchnoperceptionPublisherBranchnocameraCalibToolBranchnoavmBranchnov2BranchnonewDetectionBranchnoseniorCalibrationBranchnodoxBranchnooleLidarBranchnolidarCameraFusionBranchnonotes前港 安全模块 373 测试usersoperatenoStarted by user 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2026-09-23 09:17:50 +00008cdeb70fa303ec98780e7003bc7df29c6afa7157Update gitlab.groovyeditsrc/org/devops/gitlab.groovy
git- module-ros2.jenkinsfile34d00e1014a05557efcbb53b727a3aa139076db11790154630000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-23 09:10:30 +000034d00e1014a05557efcbb53b727a3aa139076db1Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
- module-ros2.jenkinsfile71f1726cb54cfd84d079881a60b60319b35534641790156736000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile
2026-09-23 09:45:36 +000071f1726cb54cfd84d079881a60b60319b3553464Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfile
git- data/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cpp9400659a6fb905588498dc7aa6b40598beb1b89a1790165936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正切入车辆跟车与绕行承诺
先更新本帧位置再识别切入和通行策略；切入优先解除绕行承诺，普通侧方避让及消抖旧标签不能建立新承诺。
切入完成后保持跟车，退回邻车道后释放跟车锁存。补充左右切入和承诺生命周期回归。
验证：分布式构建通过，polygon_sl_projector_test 共 126 项通过。
2026-09-23 20:18:56 +08009400659a6fb905588498dc7aa6b40598beb1b89afix: 修正切入车辆跟车与绕行承诺editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppcd45d025fff50ff766c0a72baf3f156e55b0b84a1790165936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免切入收边强迫已越线车辆回归
移除切入来源侧固定 12 米收边，按实车和有效拼接起点的牵引车及挂车外廓判定越线。
已越线时保留来源侧原道路空间，避免截断向外连续转向；回到车道内后恢复限制。
验证：分布式构建和 126 项决策、边界回归通过，覆盖双侧切入、拼接点、挂车及 DP 采样范围。
2026-09-23 20:18:56 +0800cd45d025fff50ff766c0a72baf3f156e55b0b84afix: 避免切入收边强迫已越线车辆回归editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppdata/obstacle/obstacle_decider_attr.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbproto/obstacle.protoreplayer/scene_data/generated/plan_frame_descriptor.pbfcde6e4ee2b22fd71b394e2a366faf60ec065fe91790165936000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在场景快照中恢复切入跨帧状态
为切入标志、来源方向及解除计数补充原值 Proto 编解码，Full、Compact 和 Candidate 均恢复。
同步字段合同与生成产物，采用 Proto 默认值，不增加观测有效性兼容状态。
验证：scaffold、generate、check-generated 和 breaking 检查通过，切入编解码及带宽测试通过。
2026-09-23 20:18:56 +0800fcde6e4ee2b22fd71b394e2a366faf60ec065fe9fix: 在场景快照中恢复切入跨帧状态editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/plan_frame_field_roles.csveditdata/obstacle/obstacle_decider_attr.hppeditproto/obstacle.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/obstacle_proto_codec.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditreplayer/scene_data/generated/compact_scene_descriptor.pb
- hmi/common/pnc_graphics_view.cpphmi/common/obstacle_details.hpphmi/draw/draw_perception.cpphmi/widget/pnc_mat.cpphmi/common/pnc_graphics_view.hpphmi/widget/replayer_pnc_mat.cpphmi/draw/draw_perception.hppTesting/CMakeLists.txtTesting/obstacle_detail_render_test.cpphmi/node_hmi.cpphmi/replayer_hmi.cpp581ea80168e914b83207df2d07a1e5913ad2dbce1790165937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物切入状态和中文详细属性
在实时与回放 HMI 增加详细属性开关，单击障碍物显示位置、策略、承诺及切入生命周期。
切入目标增加橙色方向标注；暂停切换、目标消失及隐藏障碍物时同步更新面板。
验证：实时及回放程序分布式构建通过，HMI 10 项测试通过，2 项可选快照测试跳过。
2026-09-23 20:18:57 +0800581ea80168e914b83207df2d07a1e5913ad2dbcefeat: 显示障碍物切入状态和中文详细属性edithmi/node_hmi.cppedithmi/replayer_hmi.cppeditTesting/CMakeLists.txtedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_perception.hppaddTesting/obstacle_detail_render_test.cppedithmi/common/pnc_graphics_view.hppedithmi/widget/pnc_mat.cppedithmi/draw/draw_perception.cppedithmi/common/pnc_graphics_view.cppaddhmi/common/obstacle_details.hpp
- replayer/scene_data/encoding_benchmark.cppc17d8ba11638dc92398af030030612ce6f13c89b1790166051000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定编码基准的引导线消融默认状态
消融重置反复创建临时引导线对象，DP 标签未初始化导致 Compact 字节数随机波动。
整体、主备用及嵌套 DP 消融统一复制静态零初始化默认对象，保证同输入重复测量一致。
验证：分布式增量构建通过；三组回归共 417 项通过、4 项可选快照跳过；重复消融测试连续 10 次通过。
2026-09-23 20:20:51 +0800c17d8ba11638dc92398af030030612ce6f13c89bfix: 稳定编码基准的引导线消融默认状态editreplayer/scene_data/encoding_benchmark.cpp
- tasks/deciders/lat_decider/switching_bounds_decider.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cpp440615906e0c9528d2857a14d6f758cea98c451d1790180724000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 将变道距离锁存推迟到进入变道状态
准备阶段按最新速度更新完成距离，进入 SWITCHING 时确定距离和起终点，持续变道时继承锁存几何，避免减速后仍沿用高速边界。
历史候选失效时清除未锁存几何，边界兜底同步更新安全检查距离；补充减速、状态切换、候选失效和重置回归。分布式编译及 19 项相关测试通过。
2026-09-24 00:25:24 +0800440615906e0c9528d2857a14d6f758cea98c451dfix: 将变道距离锁存推迟到进入变道状态edittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/plan/switch_data.cpp
- replayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protodata/plan/switch_data.cppdata/config/cfg_lat_decide.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppconfig/config_truck/plan.yamlreplayer/scene_data/generated/config_schema_inputs.jsondata/obstacle/cluster_lane_change_safety_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppconfig/config_car/plan.yamlreplayer/scene_data/generated/scene_replay_api_descriptor.pbconfig/config_truck/config_truck_reverse/plan.yamlreplayer/scene_data/generated/plan_frame_descriptor.pbf6e9beb190e8b47a0160ccfa3511da7c45149e3e1790181868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持普通变道到最外侧车道的独立速度配置
根据 mlt_center_lines 的目标索引是否为最后一条车道选择 switch_in_normal_outermost_km_h，未配置时继承 switch_in_normal_km_h，并同步普通路口变道准备距离计算。
补齐 Full/Compact/Candidate typed 配置及旧消息缺字段回退，新增速度选择、边界和回放兼容回归。合同生成与兼容检查通过，分布式编译通过；22 项变道测试通过，回放测试 285 项通过、2 项因缺少外部数据跳过。
2026-09-24 00:44:28 +0800f6e9beb190e8b47a0160ccfa3511da7c45149e3efeat: 支持普通变道到最外侧车道的独立速度配置editconfig/config_truck/plan.yamleditdata/obstacle/cluster_lane_change_safety_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan/switch_data.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/config/cfg_lat_decide.cppeditconfig/config_car/plan.yamleditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditTesting/scene_replay_foundation_test.cppeditdata/config/cfg_lat_decide.hppeditproto/config.protoeditconfig/config_imv/plan.yamleditconfig/config_truck/config_truck_reverse/plan.yaml
- Testing/CMakeLists.txtdata/constrain/long_target.cppTesting/long_target_activation_test.cppacb9f2343e96a0264c62697bdfa04d461ea8bb391790182202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免巡航负加速度误激活远端停车
停车激活评估不再把普通负加速度视为已进入终点制动，保留候选起点 v/a、硬制动可达性和已激活停车的连续性。
补充现场 bag 参数、连续重规划、目标移远、约束消失及近距离硬制动回归。
2026-09-24 00:50:02 +0800acb9f2343e96a0264c62697bdfa04d461ea8bb39fix: 避免巡航负加速度误激活远端停车editTesting/CMakeLists.txteditdata/constrain/long_target.cppaddTesting/long_target_activation_test.cpp
- data/lattice/lattice_trajectory1d.cppmath/curve1d/curve1d.hppalgorithm/plan/lattice.cppmath/piecewise_jerk/piecewise_jerk_traj.cppTesting/longitudinal_curve_validation_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/lattice/longitudinal_curve_validator.hppdata/lattice/lattice_trajectory1d.hppmath/piecewise_jerk/piecewise_jerk_traj.hppTesting/CMakeLists.txtTesting/jerk_limited_stop_test.cpp8fd5a80b8aae60764c9d37775d6826ab6cb4c6721790182204000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解析校验长时域停车曲线以避免候选误拒绝
分段常 jerk 曲线检查完整时域端点、内部速度极值和分段边界，支持历史时间重基与终点保持；未知曲线继续保留采样预算保护。
补充远端停车及低速恢复回归，并在规划失败日志中输出首个前置候选拒绝原因。刷新本次头文件变化对应的审计哈希，不改变持久化字段。
2026-09-24 00:50:04 +08008fd5a80b8aae60764c9d37775d6826ab6cb4c672fix: 解析校验长时域停车曲线以避免候选误拒绝addTesting/longitudinal_curve_validation_test.cppeditdata/lattice/lattice_trajectory1d.cppeditmath/curve1d/curve1d.hppeditalgorithm/plan/lattice.cppeditTesting/jerk_limited_stop_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditmath/piecewise_jerk/piecewise_jerk_traj.hppeditmath/piecewise_jerk/piecewise_jerk_traj.cppeditdata/lattice/lattice_trajectory1d.hppeditdata/lattice/longitudinal_curve_validator.hppeditTesting/CMakeLists.txt
- data/common/trajectory_point.cppTesting/CMakeLists.txtTesting/trajectory_point_interpolation_test.cpp4470e60a991e108dc7e0629c4f1653e242a1f7541790182204000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按时间插值消除低速轨迹起点锁存
时间匹配直接按时间比例插值，避免亚毫米制动轨迹被 1 cm 空间容差或 1 ms 时间容差截断；保留角度和 z 哨兵语义。
新增低速、静止、亚毫秒、分段端点和重复时间回归。三个修复合并验证：99 项纵向规划测试通过，pnc_node 分布式构建通过。
2026-09-24 00:50:04 +08004470e60a991e108dc7e0629c4f1653e242a1f754fix: 按时间插值消除低速轨迹起点锁存editTesting/CMakeLists.txtaddTesting/trajectory_point_interpolation_test.cppeditdata/common/trajectory_point.cpp
- replayer/replayer_data_process/replayer_data_process.cppreplayer/algorithm_replay/production_variant_runner.cppreplayer/replayer_data_process/replayer_data_process.hppTesting/scene_replay_foundation_test.cppc463af0de6aa16dc8cb5d1088faaa3fc18bf89351790182321000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复回放帧配置并保护共享配置访问
逐帧同步 WBCA 等生产算法读取的配置单例，避免离线默认零速度覆盖录制配置。
回放重建与任务执行共用递归互斥锁，防止并发回放互相覆盖配置。
补充连续帧限速和相关配置恢复回归测试。
2026-09-24 00:52:01 +0800c463af0de6aa16dc8cb5d1088faaa3fc18bf8935fix: 恢复回放帧配置并保护共享配置访问editreplayer/algorithm_replay/production_variant_runner.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/replayer_data_process/replayer_data_process.hppeditreplayer/replayer_data_process/replayer_data_process.cpp
- data/dp_poly_path/trajectory_cost.hppdata/boundary/driving_corridor.cppdata/constrain/longitude_constrain.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hppreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsondata/obstacle/decision/obstacle_decision_test.cppdata/dp_poly_path/dp_road_graph.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppTesting/compact_driving_corridor_restore_test.cppreplayer/scene_data/plan_frame_nested_persistence_review.yamldocs/pnc_algorithm_replay/plan_frame_field_workflow.mddata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppreplayer/scene_data/plan_frame_field_roles.csvdata/obstacle/obstacle_decider_attr.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbproto/obstacle.protoreplayer/scene_data/generated/plan_frame_descriptor.pb4b28b4a4fa1c8cdaccdc57a377777622248da7c31790182338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前准备会车右让空间并补齐预测尾点检查
会车预判覆盖纵向规划时域并检查真实预测尾点，自车与障碍物按同一时刻评估。
提前生成右让准备段，考虑实车及有效拼接车身占用，保留可行通道和车身保护。
按目标记录边界贡献，切入或换侧时撤销失效贡献并迁移代表位置，缺失保持迟滞。
持久化会车确认状态，完善 Full、Compact、Candidate 及边界与动态代价回归。
验证：分布式构建节点、回放器和测试目标；440 项常规测试通过；合同生成与兼容检查通过。
两份 bag 重建完成，提前右让时机未退后；新增尾点碰撞使部分录制状态帧无解，尚未完成闭环连续通过验收。
2026-09-24 00:52:18 +08004b28b4a4fa1c8cdaccdc57a377777622248da7c3fix: 提前准备会车右让空间并补齐预测尾点检查editdata/obstacle/obstacle_decider_attr.cppeditreplayer/scene_data/plan_frame_field_roles.csveditTesting/compact_driving_corridor_restore_test.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/obstacle/obstacle_decider_attr.hppeditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/obstacle_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/boundary/driving_corridor.cppeditdata/constrain/longitude_constrain.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/dp_poly_path/trajectory_cost.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditproto/obstacle.protoeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/dp_poly_path/trajectory_cost.hppeditdata/dp_poly_path/trajectory_cost_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditreplayer/scene_data/plan_frame_nested_persistence_review.yamleditdata/obstacle/decision/obstacle_decision.cppeditTesting/scene_replay_foundation_test.cpp
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pnc 优化更新usersoperatenoStarted by user 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#51995199false51991324234SUCCESS1790152430721http://159.27.114.184:8080/jenkins/job/orin-module-slave32/5199/- Testing/routing_map_guard_test.cppdata/app/fsm/motion_fsm/motion_fsm.cppTaskfile.ymlaae9b08b9dbdb9a9bd90b4ee4ad741e8a7c9743b1790148755000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向点停稳后 Motion 状态机未进入停车态
车辆停稳且处于换向容差内时，核对历史有效停车终点和当前换向约束，进入 STOP_AUTO 并记录换向停车原因。保留急停、guardian 和其他停车约束的优先级。
换向约束仍在附近时保持停车，约束解除后恢复自动起步。增加真实 Motion FSM 回归，覆盖两份现场快照距离、停车保持与释放、无效条件以及停车优先级；63 项测试通过，本机 pnc_node 编译通过。
2026-09-23 15:32:35 +0800aae9b08b9dbdb9a9bd90b4ee4ad741e8a7c9743bfix: 修复换向点停稳后 Motion 状态机未进入停车态editTaskfile.ymleditTesting/routing_map_guard_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cpp
- hmi/draw/draw_perception.cppde060180d215581d80a2752803d637cf323e3fed1790152314000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在障碍物标注中显示跟踪帧数
在类型后显示 age 数值，未初始化值显示问号；将车速统一格式化为一位小数，保留旧快照的后续诊断信息。普通及变道不安全障碍物共用显示格式。
验证：pnc_node、pnc_replayer 编译通过，git diff --check 通过。
2026-09-23 16:31:54 +0800de060180d215581d80a2752803d637cf323e3fedfeat: 在障碍物标注中显示跟踪帧数edithmi/draw/draw_perception.cpp
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