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添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacle.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacleReport.msgtos_msgs/CMakeLists.txttos_msgs/msg/PncConfiguration.msgtos_msgs/msg/AccessLine.msga6cc2eba4e6500eb50f7c134c69130ed5961609d1788166534000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-08-31 16:55:34 +0800a6cc2eba4e6500eb50f7c134c69130ed5961609dtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/CMakeLists.txtaddtos_msgs/msg/AccessLine.msgedittos_msgs/msg/PncConfiguration.msgtos_msgs/msg/AccessLine.msg2d6540ee99dacd1ead24c835cb63c9282bc40ec71788166541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-08-31 16:55:41 +08002d6540ee99dacd1ead24c835cb63c9282bc40ec7tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msgcloud_msgs/msg/CraneInfo.msg0a86996bd8e8ce67c530651964a740867ad582481791466791000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态 2026-10-08 21:39:51 +08000a86996bd8e8ce67c530651964a740867ad58248feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msgdiagnose_msgs/CMakeLists.txtdiagnose_msgs/msg/InspectRequest.msg45227b06b5264038899c3867327bc68c88a6c62e1793592557000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加雷达巡检消息 2026-11-02 12:09:17 +080045227b06b5264038899c3867327bc68c88a6c62efeat_out:增加雷达巡检消息editdiagnose_msgs/CMakeLists.txtadddiagnose_msgs/msg/InspectRequest.msggitsins/strapdown_truck.cppnode/msf_localization_node.cppsins/strapdown_imv.cppd659e45db47a03f71c2f6b080e606557341145061792841100000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autofeat_out: adapt lidar 2026-10-24 19:25:00 +0800d659e45db47a03f71c2f6b080e60655734114506feat_out: adapt lidareditnode/msf_localization_node.cppeditsins/strapdown_imv.cppeditsins/strapdown_truck.cppgitssep/keb_optimizer/control_space_path_adapter.ccssep/keb_optimizer/control_space_path_adapter.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9c86ba303cb7982edf31448c905ed9130e8ac3be1793677692000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持 KEB 严格几何一致性验收增加可配置的连续运动学位置残差阈值和绝对误差豁免，保持默认行为。严格场景支持无预热收尾优化，并向控制空间修正传递相同阈值。允许释放固定段时显式保留终点约束，补充侧移、非法参数及固定段回归。验证：65 项几何相关测试通过。 2026-11-03 11:48:12 +08009c86ba303cb7982edf31448c905ed9130e8ac3befix: 支持 KEB 严格几何一致性验收editssep/keb_optimizer/control_space_path_adapter.heditssep/keb_optimizer/control_space_path_adapter.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/tractor_trailer_kinematic_weight_test.ccTesting/out_yard_bag_regression_test.cppdata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cpp0bdd9eb3d133ac600deb99ed6108b4fc79dfdcdd1793677709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前构造动态上码头搜索起点仅对存在有效同向邻居的码头连接提前至 70 m 进入及准备备用地图。上码头起点提前 42 m，并在路口和停止线选择后保留提前量及前视下限。强化 bag 回归基准、首次有效构造和最终起点断言，作用域恢复全局配置。验证：33 项路由测试及 2 项 bag 测试通过；196 帧重建成功，首次有效构造提前约 6.30 s，同帧起点提前 19.85 m。 2026-11-03 11:48:29 +08000bdd9eb3d133ac600deb99ed6108b4fc79dfdcddfix: 提前构造动态上码头搜索起点editTesting/routing_transition_test.cppeditTesting/out_yard_bag_regression_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/ssep/open_space_ec.cppdata/ssep/open_space_ec.cppssep/test/forward_precise_planner_test.ccdata/ssep/open_space_ec.hppdata/ssep/ssep_ec.hppssep/scenarios/tractor_trailer_general_planner.hreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/ssep_planner.ccTesting/ssep_scenario_config_lifecycle_test.cpp85176f4206daa062aed8ce6dbeb111fd91cd208b1793677728000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按场景配置验收上码头车身净距从场景 custom_params 读取 minimum_obstacle_clearance，贯穿起点守卫、粗搜索、优化及完整车身扫掠验收，禁止未经相同约束的历史路径复用。保留原起终点局部清障，框外仍检查净距，起点整车深陷继续拒绝。严格场景释放固定首尾段并保留终点约束，避免绕过几何验收。更新源成员审计摘要，未修改 Proto 字段合同。验证：61 项配置、清障及规划器测试通过；现场 CPU 场景回放成功。 2026-11-03 11:48:48 +080085176f4206daa062aed8ce6dbeb111fd91cd208bfix: 按场景配置验收上码头车身净距editssep/scenarios/tractor_trailer_general_planner.heditdata/ssep/open_space_ec.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/ssep_planner.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/ssep_ec.hppeditssep/test/forward_precise_planner_test.cceditdata/ssep/open_space_ec.cppssep/scenarios/tractor_trailer_parking_collision.hssep/offboard/ssep_planner_wrapper.ccssep/maps/ogm.hssep/ssep_planner.hssep/maps/ogm_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/maps/ogm_config_utils.ccssep/maps/ogm_builder.hssep/test/parking_collision_provenance_test.ccssep/test/scene_replay_obstacle_inputs_test.ccssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/offboard/main_test/main_ssep_input.ccssep/maps/ogm_config_utils.hdocs/ssep_stop_collision_extension.mde9ff87baa59edeefdef653f3a67f93fd8d7e22201793694944000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持末端直线清障并限定首末段豁免新增 terminal_collision_ignore_distance，默认关闭并限制在末端拉直距离内。统一生产与 PB 回放建图参数，裁剪终点直线区域实体来源，保留区外障碍和道路约束。取消粗搜索按整个拉直长度无条件跳过碰撞的行为。复用公共运动分段规则：起点清障仅首段有效，终点清障仅末段有效，中间段和共享换向点恢复原始来源、派生线与膨胀占用并检查连续头挂扫掠。同步优化碰撞约束，并在抽稀分段后合并完整输出再次验收。验证：clang-format 21.1.8、diff 检查、分布式生产及回放编译通过； 91 项分段回归及 97 项共享调用方测试通过。威海录制 CPU 回放默认配置碰撞拒绝，显式 3 米和 8 米各输出 84 点；未执行 GPU 验证。 2026-11-03 16:35:44 +0800e9ff87baa59edeefdef653f3a67f93fd8d7e2220feat: 支持末端直线清障并限定首末段豁免editssep/maps/ogm_config_utils.cceditdocs/ssep_stop_collision_extension.mdeditdata/ssep/ssep_activation.cppeditssep/test/parking_collision_provenance_test.cceditssep/ssep_planner.cceditssep/scenarios/tractor_trailer_parking_collision.heditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/maps/ogm.heditssep/test/scene_replay_obstacle_inputs_test.cceditssep/offboard/ssep_planner_wrapper.cceditssep/maps/ogm_builder.heditssep/offboard/main_test/main_ssep_input.cceditssep/maps/ogm_builder.cceditssep/maps/ogm_config_utils.hreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/open_space_ec.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/ssep/ssep_util.hppTesting/routing_transition_test.cppdata/ssep/ssep_util.cppbc4b7564ad07e4879569912a6bc0e204e849fec51793706832000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定指定途经点的上码头提前策略仅对 UTM (308844.028240, 2181447.135336) 半径 1 米内的有效途经点启用提前。场景进入和备用地图准备保留多车道码头条件，搜索起点明确限定 UP_SEASIDE。其他途经点恢复原场景距离和起点选择，避免直角上码头等场景过早进入搜索。补充位置范围、距离边界、上下码头及起点对照回归，并刷新头文件生成校验指纹。验证：分布式编译、121 项回归测试和生成文件/Proto 兼容性检查通过。 2026-11-03 19:53:52 +0800bc4b7564ad07e4879569912a6bc0e204e849fec5fix: 限定指定途经点的上码头提前策略editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/open_space_ec.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/ssep/ssep_util.hppeditTesting/routing_transition_test.cppeditdata/ssep/ssep_util.cppTesting/routing_transition_test.cppdata/ssep/open_space_ec.cppc6c7a9156f303e695a8188cfa01a5687b90b40121793706841000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留直角上码头的路由终点搜索起点普通直角上码头成功投影当前路由段终点后，禁止后续场内停止线覆盖起点选择。指定途经点的特殊提前逻辑及其他场景的停止线规则保持原行为。新增真实参考线、路口和成对停止线回归，覆盖 YARD/STACKER 共 12 组选择条件。验证：分布式编译及全部 122 项回归测试通过；新 bag 与日志确认录制使用停止线起点。未执行该 bag 的完整闭环搜索回放。 2026-11-03 19:54:01 +0800c6c7a9156f303e695a8188cfa01a5687b90b4012fix: 保留直角上码头的路由终点搜索起点editTesting/routing_transition_test.cppeditdata/ssep/open_space_ec.cppgitsrc/camera/v4l2_stream.hsrc/camera/camera_driver_cuda.hsrc/camera/camera_driver_cuda.cppsrc/camera/v4l2_stream.cppe787ee2de53c1debfb7d70e0da1c7bfe7a1249221792402264000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix: 自动恢复重建 V4L2 流泄漏 pinned 内存，恢复加次数上限 - V4l2Stream 缓冲是 cudaHostAlloc 分配的 USERPTR，释放时却按 mmap 方式 munmap+free，每次重建流（自动恢复）漏 4×4MB 锁页内存，进程 RSS 看不出来。改为 REQBUFS(0, USERPTR) 后 cudaFreeHost；InitUserp 重入、中途失败、析构时也释放。本机复现：旧方式每次重建系统可用内存少 16.2MB，新方式 0。洋浦 VV067 10-19 左前 190 长期无图，恢复 1317 次把主机内存耗尽，预测卡顿报 631310。 - 自动恢复：自上次出帧以来最多 10 次，用尽后停止复位（211 照报），相机重新出帧 30 帧后清零； senior_cam_recfg 不存在或不可执行时不再触发恢复（以前每次 system 返回 32512 仍重建流）。 2026-10-19 05:31:04 -0400e787ee2de53c1debfb7d70e0da1c7bfe7a124922fix: 自动恢复重建 V4L2 流泄漏 pinned 内存，恢复加次数上限editsrc/camera/v4l2_stream.heditsrc/camera/camera_driver_cuda.cppeditsrc/camera/v4l2_stream.cppeditsrc/camera/camera_driver_cuda.hsrc/camera/camera_driver_cuda.cppsrc/interface/base_camera_stream.hsrc/camera/camera_driver_cuda.hc39a7865fe2059810968a2dbe3aad328f4bb67e81792403082000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix: 相机流基类补虚析构，自动恢复用尽后改为退避重试接 e787ee2（REVIEW-00050 审查意见）： - IBaseCameraStream 没有虚析构，unique_ptr<IBaseCameraStream> 替换/释放时 ~V4l2Stream 不执行， V4L2 流重建失败（InitCapture 失败、is_init_success_=false）那条路径的 fd 和 pinned 缓冲仍会漏。补 virtual ~IBaseCameraStream()；重建失败后歇 1s 再重试，避免无间隔反复开关设备。 - 恢复次数用尽后不再永久停止：改为每 600s 试一次（链路恢复后要 recfg 重新配置解串器才能出图），只打一次退避日志；相机出 30 帧后清零。 - senior_cam_recfg 不存在时只跳过本次（日志只打一次），补装后下次到阈值自动生效。 2026-10-19 05:44:42 -0400c39a7865fe2059810968a2dbe3aad328f4bb67e8fix: 相机流基类补虚析构，自动恢复用尽后改为退避重试editsrc/camera/camera_driver_cuda.heditsrc/interface/base_camera_stream.heditsrc/camera/camera_driver_cuda.cppsrc/camera/camera_driver_cuda.cppsrc/camera/camera_driver_cuda.h02a5ebf1bc7f7c080694b8ea58da40f6f5bf0c231792403275000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix: V4L2 流重建持续失败时照样计无图、报 211、触发恢复接 c39a786（REVIEW-00051）：重建失败分支以前直接 return，不计无图次数、不调 TryAutoRecovery， recfg 后流起不来（STREAMON/QBUF 失败）时 211 不报、600s 退避重试也走不到，相机静默无图。把读失败处理抽成 OnReadFail()（无图计数、满 50 停推流、满 150 报 211、无图计时、TryAutoRecovery）， ReadBuffer 返回空和重建失败共用。 2026-10-19 05:47:55 -040002a5ebf1bc7f7c080694b8ea58da40f6f5bf0c23fix: V4L2 流重建持续失败时照样计无图、报 211、触发恢复editsrc/camera/camera_driver_cuda.heditsrc/camera/camera_driver_cuda.cppsrc/camera/camera_driver_cuda.cpp3b396841f5ae1fe8ae6c4cedccf64540e3a291421792403417000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix: senior_cam_recfg 复位期间不重建/不读 V4L2 流接 02a5ebf（REVIEW-00052）：重建持续失败时触发的恢复，recfg 和 5s 等待期间采集线程仍每秒 open/S_FMT/STREAMON 一次设备，可能和 i2c 重配并发。恢复进行中且流待重建时，只计无图并歇 1s，等恢复线程结束再重建一次。 2026-10-19 05:50:17 -04003b396841f5ae1fe8ae6c4cedccf64540e3a29142fix: senior_cam_recfg 复位期间不重建/不读 V4L2 流editsrc/camera/camera_driver_cuda.cppsrc/camera/camera_driver_cuda.cppsrc/camera/v4l2_stream.cppsrc/camera/camera_driver_cuda.hc785145a2f2bd9dd64f5f449f94670dde67078941792405294000http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonglanxiaosong@senior.autofix: 自动恢复/重建/重试路径整体收口（并发、卡死、交接、重复初始化）在 e787ee2~3b39684 基础上把「读失败→恢复→重建流」和「启动初始化失败→重试」两条路径整体梳理： - 恢复进行中采集线程一律不读、不重建设备，只计无图；恢复线程先置重建再清 is_recovering_。 - senior_cam_recfg 加 timeout 30s，i2c 卡住不会让恢复永远不结束。 - 析构先等恢复线程（它捕获了 this）。 - 重新暂停推流/触发恢复时复位 rtsp_reopen_handed_off_，修相机反复断开后 RTSP 永不重开。 - 启动初始化失败的相机：Init 完整成功后才置 is_init_flag_（改原子量），之前采集线程不碰设备但照样计无图、可触发 recfg；Init 在恢复期间直接返回失败，开设备与触发复位用 device_mutex_ 互斥； ImageReader 只初始化一次，不再每秒重建 CUDA 资源。 - Init 不再同步 OpenWriter（NVENC 可能无限阻塞），writer 由推流线程首帧时打开，阻塞只影响推流。 - DQBUF 失败后歇 10ms，设备异常时不再空转刷日志。 - 重建流时清空指向旧缓冲的 current_image_buffer。 2026-10-19 06:21:34 -0400c785145a2f2bd9dd64f5f449f94670dde6707894fix: 自动恢复/重建/重试路径整体收口（并发、卡死、交接、重复初始化）editsrc/camera/camera_driver_cuda.heditsrc/camera/camera_driver_cuda.cppeditsrc/camera/v4l2_stream.cppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/lanxiaosonglanxiaosonghttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/mataomatao523http://159.27.114.184:8080/jenkins/job/orin-slave32/523/