Changes

Update module-confname.jenkinsfile

添加车型匹配bool字段

feat_out:增加全量上传topic

tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义

tos_msgs: AccessLine 字段 yard_id 重命名为 yard

tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义

tos_msgs: AccessLine 字段 yard_id 重命名为 yard

feat: 增加设备/目标类型 17 油缸升降（嘉兴）

东方特钢举升/下降与状态反馈由类型 7（翻斗）改为 17。

feat:添加场桥和岸桥运动状态

feat_out:删除tmp

feat_out:增加定日镜消息

feat_out:增加错误码数组

feat_out:增加雷达巡检消息

feat_out:雷达驱动响应巡检请求并回复最新点云

fix: normalize azimuth with modulo before angle-based frame split

Raw MSOP may report azimuth==36000 (360.00°). Without normalizing to
[0,36000), processMsopPkt subtracts RS_ONE_ROUND from last_azimuth_ on
wrap and gets 0, so cut_angle=0 never fires and frames grow to ~two
revolutions. Mirror of rslidar_sdk_new SplitStrategyByAngle fix.

log: warn when SPLIT_BY_ANGLE receives azimuth=36000 (360.00°)

Only on the rare raw MSOP value that previously skipped cut_angle=0;
keeps normal packets quiet.

feat_out:收回到帧级延迟日志粒度

去掉 pose gap 周期日志与 msg_ts_gap 分级(>0.1/>0.02)、等待/补偿线程每帧 time_consum，以及 Compensate 刷屏日志；保留 Pub pc、Pub interval、积压/超时等异常告警，运动补偿逻辑不变。

fix:恢复 pose 间隔告警 PostMessage(31/36)

收延迟 log 时误删 >0.1/>0.02 分支的诊断上报；补回 PostMessage，仍不打分级 log。

feat:速度控制中的横向加速度防护

feat: 过弯速度保护增强

feat_out:主设备 latched 发布 /vehicle/software_version

读取 node_manager.toml [version].version_info，只发一次供 rmi 上报 OBU。

feat(collector): latch /vehicle/app_version for late subscribers and rosbag

feat_out: /peripheral_msgs/version_info 改为 latched，晚订阅可立刻拿到当前版本

fix: bound merge queue, unlock before session join, add possible-cause logs

Cap MessageMergeQueue with drop-oldest to avoid OOM during long write_wait
under camera/SNAP load. Destroy TaskSession outside SessionManager mutex so
ThreadPool join does not block create/merge. Log possible cause on long
write_wait, queue drops, and remove_task unlock path.

revert: remove MessageMergeQueue size cap

Hard cap + drop-oldest can drop needed history and hurt recording
correctness. Keep remove_task unlock-before-join and write_wait
possible-cause diagnostics.

feat_out:雷达驱动响应巡检请求并回复最新点云

fix: normalize azimuth with modulo before angle-based frame split

Raw MSOP may report azimuth==36000 (360.00°). Without normalizing to
[0,36000), SplitStrategyByAngle subtracts 36000 from prev on wrap and
gets 0, so cut_angle=0 never fires and frames grow to ~two revolutions.

log: warn when angle-split receives azimuth=36000 (360.00°)

Only on the rare raw MSOP value that previously skipped cut_angle=0;
keeps normal packets quiet.

feat_out:收回到帧级延迟日志粒度

去掉 pose gap 周期日志与 msg_ts_gap 分级(>0.1/>0.02)、等待/补偿线程每帧 time_consum，以及 Compensate 刷屏日志；保留 Pub pc、Pub interval、积压/超时等异常告警，运动补偿逻辑不变。