[Jenkins]Jenkins

Changes

Summary

  1. Update python-scripts.jenkinsfile (details)
  2. Update system-libraries.jenkinsfile (details)
  3. Update system-libraries.jenkinsfile (details)
  4. Update mizar.jenkinsfile (details)
  5. Update polaris.jenkinsfile (details)
  6. Update tc397_ota.jenkinsfile (details)
  7. Update hainan-yangpu-submodule.jenkinsfile (details)
  8. Update hainan-yangpu-submodule.jenkinsfile (details)
  9. Update hainan-yangpu-submodule.jenkinsfile (details)
Commit 006438e21a292534ca7f84ab6ba971f9d3803ff6 by weilikang
Update python-scripts.jenkinsfile
The file was modifiedpython-scripts.jenkinsfile
Commit 22c4f298fc9941f52ac846c75f078274eb6a2e6c by weilikang
Update system-libraries.jenkinsfile
The file was modifiedsystem-libraries.jenkinsfile
Commit a37f386d3617814652452eaafb1a93f7319a385f by weilikang
Update system-libraries.jenkinsfile
The file was modifiedsystem-libraries.jenkinsfile
Commit 320435f8962a7f51e6fb5a24a89755dc8183d096 by weilikang
Update mizar.jenkinsfile
The file was modifiedhardware/mizar.jenkinsfile
Commit 210e58176162aa99a931d2f3e1c0fc991f0057fa by weilikang
Update polaris.jenkinsfile
The file was modifiedhardware/polaris.jenkinsfile
Commit 8ec3bf768910b51d863bcbd12088aebba132afb1 by weilikang
Update tc397_ota.jenkinsfile
The file was modifiedhardware/tc397_ota.jenkinsfile
Commit 6679a54b539e2e9bf817578be0e609e9f2cc5eef by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile
Commit ace95fa4d9c04cbe3cc231e8ac0f13550f816171 by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile
Commit 90dfe226bdde2805f4c8a03d39871042a7f8d5ca by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile

Summary

  1. 添加载物状态及其枚举值&&车型错误标志 (details)
  2. feat: 手动rebase交通管制v2 msg变更 (details)
  3. 添加车型匹配bool字段 (details)
  4. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  5. feat_out:外设命令扩充(需重编外设及rmi) (details)
  6. feat_out:增加全量上传topic (details)
  7. feat_out:增加消息定义 (details)
  8. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  9. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
  10. feat_out:增加全量上传topic (details)
  11. feat_out:修改东方特钢上装控制枚举 (details)
  12. feat_out:修改东方特钢上装控制枚举 (details)
  13. feat_out:合并外设消息 (details)
  14. feat_out:增加反馈pd类型 (details)
  15. feat_out:反馈字段完善 (details)
  16. feat_out:增加反馈pd类型 (details)
  17. feat_out:反馈字段完善 (details)
Commit dbde87dac06d38fa0c632d2b48b972820d01c3f1 by liuwenjing
添加载物状态及其枚举值&&车型错误标志
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit db51c891fddcf73babce98115f7526d2860bd6c4 by 5081703.cr
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 87e2add8eda2f4683844d03b1c06fbef5e37a29f by liuwenjing
添加车型匹配bool字段
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit 5f922b46649cf7a0c2cee7b9a0d984783d85d8bd by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
Commit 8e532984adc69ef005594c83d7c6f854a2b3f81f by zhaojianfeng2
feat_out:外设命令扩充(需重编外设及rmi)
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit ef9d21eadee240c142d548947416629414d4114c by zhaojianfeng2
feat_out:增加全量上传topic
The file was modifiedcloud_msgs/CMakeLists.txt
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
The file was addedcloud_msgs/msg/RecordTransferResult.msg
Commit 131c24914532ae4544f15356277ded02eae7a278 by zhaojianfeng2
feat_out:增加消息定义
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
Commit 2b2e142c9000d957df8a263160e270ba2067121d by wuyanjun110
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
The file was modifiedtos_msgs/CMakeLists.txt
The file was modifiedtos_msgs/msg/PncConfiguration.msg
The file was addedtos_msgs/msg/AccessLine.msg
Commit 84aa508cf8dfb205824c68f43f042c02060f8b1f by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg
Commit e790c0b6dcc52be0d9a822c43d5879a8dca33998 by zhaojianfeng2
feat_out:增加全量上传topic
The file was modifiedcloud_msgs/CMakeLists.txt
The file was addedcloud_msgs/msg/RecordTransferResult.msg
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
Commit a6df58e6f3c8f8eec3742ca3a2c67961dc5f1970 by zhaojianfeng2
feat_out:修改东方特钢上装控制枚举
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 06f294f224285acf804864bb9051f5783414c162 by zhaojianfeng2
feat_out:修改东方特钢上装控制枚举
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit b4ee0c968a0483aafa6dbba7c2b4d24a28eca71f by zhaojianfeng2
feat_out:合并外设消息
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit ef8f093ceff58fa2b79d1a3667d0a4f34f3e28a3 by zhaojianfeng2
feat_out:增加反馈pd类型
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
Commit 5b63832064422758474bde74403392be05d8884d by zhaojianfeng2
feat_out:反馈字段完善
The file was modifiedcloud_msgs/msg/LedMsg.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
Commit bd4531ee12d21ff202fbf4e7bacaa08e5eb98b0b by zhaojianfeng2
feat_out:增加反馈pd类型
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
Commit cf8ef577bbb6bbf96346211bd8eb73585760ad5a by zhaojianfeng2
feat_out:反馈字段完善
The file was modifiedcloud_msgs/msg/LedMsg.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg

Summary

  1. feat: BP3/BP4雷达探测首包自动判型,忽略yaml配置 (details)
  2. fix: 离线包源(ROS/proto)也做BP3/BP4自动判型,修复时间戳溢出崩溃 (details)
Commit e3bb5779a8c24e895decea1ce064102adf84e03e by lanxiaosong
feat: BP3/BP4雷达探测首包自动判型,忽略yaml配置

RSBP(BP3)与RSBPV4(BP4)的MSOP包长、魔数、block布局完全相同,无法按尺寸区分。
唯一差异在MSOP header偏移30的lidar_type字节: 0x03=BP3, 0x00=BP4
(洋浦76从机实测稳定)。

- decoder_factory.hpp: 新增 detectBpLidarType(), 在线绑msop_port探测首包(3s超时)
  或离线扫pcap, 读偏移30字节判型, 失败回退yaml
- lidar_driver_impl.hpp: init()在input绑口前调用探测并覆盖lidar_type,
  保证探测socket不与驱动socket抢端口, 且判出的类型同步到Input与decoder

yaml保持RSBP/RSBPV4原格式, 能自动判出即忽略yaml定义。

via [HAPI](https://hapi.run)

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Co-Authored-By: HAPI <noreply@hapi.run>
The file was modifiedsrc/rs_driver/src/rs_driver/driver/lidar_driver_impl.hpp
The file was modifiedsrc/rs_driver/src/rs_driver/driver/decoder/decoder_factory.hpp
Commit 4792b51816d55e13660f638c6d16cb61c4c1e0bd by lanxiaosong
fix: 离线包源(ROS/proto)也做BP3/BP4自动判型,修复时间戳溢出崩溃

msg_source=2/4 走 initDecoderOnly,不开socket,原先的绑口前探测不生效,
yaml 写错型时 BP3 的 YMD 时间戳会被 BP4 解码器按 Unix 解成 ~2.8e13 秒,
ros::Time::fromSec 抛 "Time is out of dual 32-bit range" 导致节点 abort
(离线回放 truck_3rsbp_offline_bp4 时 right_down 节点必现)。

- decoder_factory: 抽出 DecoderFactory::probeBpTypeInBuf(),复用偏移30
  判据(0x03=BP3 / 0x00=BP4),供 socket/pcap 探测与裸包判型共用
- lidar_driver_impl: decodeMsopScan 解码前判首个 MSOP 包,与 yaml 不一致
  则重建 decoder 并清 difop_flag_ 等下一个 DIFOP;加 decoder_mutex_ 保护
  与 decodeDifopPkt 并发的指针替换

via [HAPI](https://hapi.run)

Co-Authored-By: HAPI <noreply@hapi.run>
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
The file was modifiedsrc/rs_driver/src/rs_driver/driver/lidar_driver_impl.hpp
The file was modifiedsrc/rs_driver/src/rs_driver/driver/decoder/decoder_factory.hpp

Summary

  1. feat_out: adjust some criterions of gnss (details)
  2. feat_out: amend geely odoms (details)
  3. feat_out: refine for liangshan (details)
Commit 10a6761850f194e5b678239d51177ae4962e88c5 by matao
feat_out: adjust some criterions of gnss
The file was addedlog.txt
The file was modifiedsins/strapdown_imv.cpp
Commit b42caeca4ac40b893481d1cdf9c03ead513182d5 by matao
feat_out: amend geely odoms
The file was removedlog.txt
The file was modifiedsins/strapdown.cpp
The file was modifiedins_driver/loader.cpp
The file was modifiedins_driver/ins_driver.cpp
The file was modifiedcommon/glog_helper.cc
The file was modifiedsins/strapdown_truck.cpp
Commit 50a4c7694c90530b5ad5b1d04a23fada6ffcfee0 by matao
feat_out: refine for liangshan
The file was modifiedsins/strapdown_truck.cpp

Summary

  1. chore: 抑制日志 (details)
Commit 61228a40fa48c2caf8100f6341e20a4576b54ea6 by zhuxiaolong
chore: 抑制日志

The file was modifiedmodules/prediction/evaluator/evaluator_manager.cc

Summary

  1. feat_out:锁具状态一直发 (details)
  2. feat_out:红绿灯改为转换，不直接控车 (details)
  3. feat_out:红绿灯逻辑 (details)
  4. feat_out:梁山港启动红绿灯功能 (details)
  5. feat_out:红绿灯逻辑修改 (details)
  6. faat_out:修复时间及距离判断 (details)
  7. feat_out:完善日志 (details)
  8. feat_out:修改默认距离阈值，修改log (details)
Commit da4764045284853298292825f613fbb30f36e9a6 by zhaojianfeng2
feat_out:锁具状态一直发
The file was modifiedsrc/CanFrame/socketcanclient.cpp
The file was modifiedsrc/ros_traffic.cpp
Commit 7a6c5c763eafb7bb806c4e6f5825505509c1b5b9 by zhaojianfeng2
feat_out:红绿灯改为转换，不直接控车
The file was modifiedlamp/control_lamp.cpp
The file was modifiedlamp/control_lamp.h
The file was modifiedpackage.xml
The file was modifiedCMakeLists.txt
The file was modifiedinclude/config_loader.hpp
The file was modifiedlamp/lamp_logic.h
Commit cdfe4df87e4da2a5bf6b203bfbb5591e3d9e78fb by zhaojianfeng2
feat_out:红绿灯逻辑
The file was modifiedlamp/control_lamp.cpp
The file was modifiedconfig/peripheral_controller.toml
The file was modifiedlamp/lamp_logic.h
The file was modifiedCMakeLists.txt
The file was modifiedinclude/config_loader.hpp
The file was modifiedpackage.xml
The file was modifiedlamp/control_lamp.h
Commit d87ab99ddef437368a8046db864184fd8facdb63 by zhaojianfeng2
feat_out:梁山港启动红绿灯功能
The file was modifiedlamp/control_lamp.cpp
The file was modifiedsrc/peripheral_controller_jininglsg.cpp
The file was modifiedlamp/lamp_logic.h
The file was modifiedinclude/peripheral_controller_jininglsg.h
The file was modifiedlamp/common.h
The file was modifiedinclude/config_loader.hpp
The file was modifiedlamp/v2x_lamp_con.cpp
Commit 0ea1539beb134e0a044e5cd37480326667d8c8c8 by zhaojianfeng2
feat_out:红绿灯逻辑修改
The file was modifiedlamp/control_lamp.h
The file was modifiedconfig/peripheral_controller.toml
The file was modifiedinclude/config_loader.hpp
The file was modifiedlamp/control_lamp.cpp
The file was modifiedlamp/common.h
Commit 6bc75c4e3055c0185ada13b8e0968aa5857f66d0 by zhaojianfeng2
faat_out:修复时间及距离判断
The file was modifiedlamp/control_lamp.cpp
The file was modifiedsrc/CanFrame/socketcanclient.cpp
The file was modifiedinclude/config_loader.hpp
The file was modifiedlamp/v2x_lamp_con.cpp
The file was modifiedconfig/peripheral_controller.toml
Commit 2d37ed3871455edd86fa3bd587b711df17737c8c by zhaojianfeng2
feat_out:完善日志
The file was modifiedlamp/lamp_logic.h
The file was modifiedlamp/v2x_lamp_con.cpp
The file was modifiedlamp/control_lamp.cpp
The file was modifiedlamp/control_lamp.h
Commit f8ee3a4c1c9217cbd9741d9364da2b1ac5bce355 by zhaojianfeng2
feat_out:修改默认距离阈值，修改log
The file was modifiedinclude/config_loader.hpp
The file was modifiedlamp/control_lamp.cpp

Summary

  1. feat: 添加车辆静止自动录包开关 (details)
Commit 76b9f3165d9b7293234ffdd58e5addd3e48559be by wuyanjun110
feat: 添加车辆静止自动录包开关

新增 use_func_motionless_recoder 配置，默认关闭车辆静止时由 guardian 接管自动触发的录包。\n\n车辆行驶状态下的自动录包以及 GUI 手动录包逻辑保持不变。
The file was modifieddata/config/cfg_func.hpp
The file was modifieddata/config/cfg_func.cpp
The file was modifieddata/action/recoder_trigger.cpp

Summary

  1. fix: 提前停车功能反向前进处理 (details)
  2. fix: emergency_brake的正确记录 (details)
  3. feat: 优化转向灯逻辑 (details)
  4. feat: SC车步进方向调整   纵向MPC制动保护增加积分项   横向运动日志记录增强 (details)
  5. feat: SC步进横移bug (details)
  6. feat: estop函数积分保护失效的bug (details)
  7. feat: 急停使用的FollowCtrlDcc函数积分优化 (details)
  8. feat: IMV零偏补偿航向学习错误 (details)
  9. fix: reject inconsistent rotation direction (details)
  10. fix(control): guard MPC during rotation command dropout (details)
  11. feat: 转向积分补偿释放参数配置化 (details)
Commit d8fdaa567faea3dfe934bea7a08d5a46d33a12b3 by liuhongshuo
fix: 提前停车功能反向前进处理
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
Commit 5181def0cc248e6394d1271fcded403de4dbb96d by liuhongshuo
fix: emergency_brake的正确记录
The file was modifieddata/ctrl_frame.cpp
Commit 5859981114a107f794b7e84e7b53a5b824f5c2ff by liuhongshuo
feat: 优化转向灯逻辑
The file was modifiednode/process/proc/proc_assist.cpp
Commit 619b0f25fbc0f815443400660b3313cdd14d368c by liuhongshuo
feat: SC车步进方向调整   纵向MPC制动保护增加积分项   横向运动日志记录增强
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/ctrl_frame.cpp
The file was removedtest/controller_minimal_red_test.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedtest/CMakeLists.txt
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.hpp
Commit 24f3f0756fa9f0c093f04752ff2b0456a4c95bcb by liuhongshuo
feat: SC步进横移bug
The file was modifiednode/process/prepare/prepare_creep.cpp
Commit c5d564ce2688fadaff079def5859974d0d954c3b by liuhongshuo
feat: estop函数积分保护失效的bug
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 1927a9895e4c32ed5edea82fc5636c8730b16f51 by liuhongshuo
feat: 急停使用的FollowCtrlDcc函数积分优化
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 58ba4a4224fe5043c2dca006e034a204a61de545 by liuhongshuo
feat: IMV零偏补偿航向学习错误
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiednode/process/prepare/prepare_state.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
Commit 2737676a5ed99a956b9c351ccb97d3d9dea13a85 by chenran
fix: reject inconsistent rotation direction
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedtest/CMakeLists.txt
The file was addedtest/augment_mpc_rotation_control_test.cpp
The file was addedalgorithm/ctrl/lat_controller/rotation_control_logic.hpp
The file was addedtest/rotation_control_logic_test.cpp
Commit b72d6f747d9460cb2b0df84cb9533733a9252bef by 5081703.cr
fix(control): guard MPC during rotation command dropout
The file was modifiedtest/augment_mpc_rotation_control_test.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
Commit 3b449fb05c5b7d21836620ae9116992425f70f42 by liuhongshuo
feat: 转向积分补偿释放参数配置化
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp

Summary

  1. 只有宝世顺才请求/cloud/pnc/pnc_target消息 (details)
  2. 宝世顺载物结果不用于修正cargo类型，载物有错检 (details)
  3. 关路点也经地图过滤，避免桥外凸 (details)
Commit eda46900ceb379a518caaa913e36c7cbef554ed0 by liuwenjing
只有宝世顺才请求/cloud/pnc/pnc_target消息
The file was modifiedcore/spreader_detection.cpp
Commit b0e4e1b6132a89fd108358d8ae8b55686efdf10e by liuwenjing
宝世顺载物结果不用于修正cargo类型，载物有错检
The file was modifiedcore/spreader_detection.cpp
Commit 1c99983d0a7532a1e08f60f1d202bed213b44d2e by liuwenjing
关路点也经地图过滤，避免桥外凸
The file was modifiedcore/spreader_detection.cpp
The file was modifiedcore/spreader_detection.h

Summary

  1. 处理集卡反向行驶情况 (details)
  2. support gantry crane in tos (details)
  3. add flip spreader align (details)
Commit 6ff59ab42662666c144269718b57e3bed5af58bf by liuhao
处理集卡反向行驶情况
The file was modifiedcore/crane_align.cpp
Commit 5475197622abb6d0d40f08d2d79dc69179a2401b by liuhao
support gantry crane in tos
The file was modifiedcore/crane_align.cpp
Commit 7f41aa8039a6ee47923768a9833b4ed836a498c6 by liuhao
add flip spreader align
The file was modifiedcommon/spreader_detection.cpp
The file was modifiedcommon/container_compensate.cpp
The file was modifiedcommon/container_height_estimate.h
The file was modifiedcommon/tos_task.h
The file was modifiedcommon/container_compensate.h
The file was modifiedcommon/spreader_detection.h