[Jenkins]Jenkins

Changes

Summary

  1. Update map-png.jenkinsfile (details)
Commit bc9b0f718136a05395a6908683064a53bbea5c78 by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile

Summary

  1. feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈 (details)
  2. feat:添加场桥和岸桥运动状态 (details)
  3. feat:添加场桥和岸桥运动状态 (details)
  4. feat_out:增加雷达巡检消息 (details)
  5. feat_out:增加雷达巡检消息 (details)
  6. feat_out:增加雷达巡检消息 (details)
  7. feat_out:上装增加急停状态 (details)
Commit b763fc42d7fa1daaf72244aa4d3ab44cf2add1a7 by zhaojianfeng2
feat: 增加 /peripheral/operate_status PD_TYPE_7 翻斗反馈

徐工自卸上报翻斗状态时使用类型 7。
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
Commit 1b306566b5e66a524235d5f2635d6ef234fcc6a8 by wuyanjun110
feat:添加场桥和岸桥运动状态
The file was modifiedcloud_msgs/msg/CraneInfo.msg
Commit 27402f14260ed710f3f7ea37c0667ed4d344f3e1 by wuyanjun110
feat:添加场桥和岸桥运动状态
The file was modifiedcloud_msgs/msg/CraneInfo.msg
Commit 253235ff229b66e4c17c269624b8ccc7ce218785 by zhaojianfeng2
feat_out:增加雷达巡检消息
The file was addeddiagnose_msgs/msg/InspectRequest.msg
The file was modifieddiagnose_msgs/CMakeLists.txt
Commit 45227b06b5264038899c3867327bc68c88a6c62e by zhaojianfeng2
feat_out:增加雷达巡检消息
The file was modifieddiagnose_msgs/CMakeLists.txt
The file was addeddiagnose_msgs/msg/InspectRequest.msg
Commit f9ce1665d7cb9a72c3efb2d5820d6bf4f61b7758 by zhaojianfeng2
feat_out:增加雷达巡检消息
The file was modifieddiagnose_msgs/CMakeLists.txt
The file was addeddiagnose_msgs/msg/InspectRequest.msg
Commit ac24ee04006030867e2117de1b6dc07c846f1e68 by zhaojianfeng2
feat_out:上装增加急停状态
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg

Summary

  1. :new: 修复alpha因子无限收缩导致的最终迭代返回0匹配对的bug (details)
Commit 46ac207fc9ef84c17af8e7664793813bbca77398 by liuyang
:new: 修复alpha因子无限收缩导致的最终迭代返回0匹配对的bug
The file was modifiedlibs/slam/src/slam/CICP.cpp
The file was modifiedlibs/slam/include/mrpt/slam/CICP.h

Summary

  1. docs: 增加prediction工程与编码规范 (details)
  2. style: 按工程规范统一源码格式 (details)
  3. chore(format): 启用控制语句自动补齐花括号 (details)
Commit f36e4fc496af7ca903fbb3d12ff82e2fdd993cf9 by zhuxiaolong
docs: 增加prediction工程与编码规范
The file was addedAGENTS.md
Commit c399667ea04935840da53294a32e55cff84d3748 by zhuxiaolong
style: 按工程规范统一源码格式

执行全量format.sh；prediction_node及7个回归测试目标构建成功，CTest全部通过。
The file was modifiedtest/regression/parallel_driving_test.cc
The file was modifiedtest/regression/predictor_motion_test.cc
The file was modifiedtest/regression/motion_traits_test.cc
The file was modifiedmodules/prediction/predictor/lane_sequence/lane_sequence_predictor.cc
The file was modifiedmodules/prediction/predictor/junction/junction_predictor.cc
The file was modifiedmodules/prediction/container/obstacles/obstacle.cc
The file was modifiedmodules/prediction/common/variable_motion.h
The file was modifiedmodules/prediction/predictor/lane_sequence/lane_sequence_predictor.h
The file was modifiedmodules/prediction/predictor/free_move/free_move_predictor.cc
The file was modifiedmodules/perception/proto/perception_obstacle.proto
The file was modifiedmodules/prediction/predictor/predictor.cc
The file was modifiedtest/regression/lane_fixture.cc
The file was modifiedtest/regression/regulator_test.cc
The file was modifiedtest/regression/lane_fixture.h
Commit 5db1cc9714c3f54c993e2b6ca9f738bcb6e94e52 by zhuxiaolong
chore(format): 启用控制语句自动补齐花括号
The file was modifiedtools/debug_rosbag_extractor/debug_bag_extractor.hpp
The file was modifiedtools/debug_rosbag_extractor/consist_rosbag_clipper.hpp
The file was modifiedmodules/prediction/pipeline/vector_net.cc
The file was modified.clang-format

Summary

  1. feat_out:潍坊锁站对齐洋浦双拍锁双色灯与语音 (details)
  2. fix_bug:潍坊集装箱车辆状态改用peripheral_msgs避免话题类型冲突 (details)
Commit 05dfd7fbf5ce6db90ede09621e322faec1571fb3 by zhaojianfeng2
feat_out:潍坊锁站对齐洋浦双拍锁双色灯与语音

weifang_container：拍1红/拍2黄；进站停车、DI、齐钮READY、PASS超时释放语音；其它港口兼容默认不变
The file was modifiedinclude/config_loader.hpp
The file was modifiedinclude/av_alarm.h
The file was modifiedinclude/alarm_sender.hpp
The file was modifiedconfig/peripheral_controller.toml
The file was modifiedinclude/peripheral_controller_weifang_container.h
The file was modifiedsrc/peripheral_controller_weifang_container.cpp
Commit 899003bee73dfa0599dedb01a7e67b72be98eab9 by zhaojianfeng2
fix_bug:潍坊集装箱车辆状态改用peripheral_msgs避免话题类型冲突

weifang_container与AVAlarm共用TOPIC_VEHICLE_STATUS时消息类型不一致导致启动崩溃，统一为peripheral_msgs/VehicleStatus以匹配/vehicle/status_new。
The file was modifiedinclude/peripheral_controller_weifang_container.h
The file was modifiedsrc/peripheral_controller_weifang_container.cpp

Summary

  1. fix: 保留牵引车重规划时未完成的任务途经点 (details)
  2. feat: 解耦与底盘约定的最大角度值和keb规定的最大角度值 (details)
  3. fix: 复用直行出堆场开关控制入堆场弯道禁停 (details)
  4. fix: 补齐普通路由非末段终点停车防护 (details)
  5. fix: 修复 cluster 速度滤波残值误触发变道临停 (details)
  6. fix: 减少拖挂多段搜索的重复碰撞验收耗时 (details)
  7. feat: 同一停车任务沿用起点规则选定的曲率参数 (details)
  8. fix: 保留 IMV 禁止翻头时的起始操作头身份 (details)
  9. fix: 诊断窗口显示实际执行的横向规划器 (details)
  10. feat: 支持场景组合条件与 IMV 出库固定直行 (details)
  11. fix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换 (details)
  12. feat(sidepass): 允许绕行合格静止机动车旁的居中两轮车 (details)
  13. fix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄 (details)
  14. fix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行 (details)
  15. fix(sidepass): 补全两轮车预测运动检查与承诺退出条件 (details)
  16. fix: 修正 SSEP 曲率方向与控制转向约定 (details)
  17. fix: 修复多段路由换向点停车原因冲突 (details)
  18. feat: 对准受阻检测功能增加开关 增加静止防抖 (details)
Commit 60c1d9379949c885c603ce98f0325c0acc240701 by wuyanjun110
fix: 保留牵引车重规划时未完成的任务途经点

牵引车多段泊车拉直重规划复用任务途经点构造，避免以终点延伸的合成点覆盖尚未完成的任务点。保留任务点完成后及未配置任务点时的显式拉直行为。

增加威海现场坐标回归，覆盖重复重规划和任务点生命周期。分布式编译通过，相关 224 项测试全部通过；尚未验证完整泊车搜索。
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedTesting/parking_pass_progress_test.cpp
Commit 8623bcf5e4ec5086aafd1b04cac7432238486fdb by liuhongshuo
feat: 解耦与底盘约定的最大角度值和keb规定的最大角度值
The file was modifiedalgorithm/decision/semantic_set_transformation_2.cpp
The file was modifiedreplayer/scene_data/generated/compact_scene_descriptor.pb
The file was modifiedreplayer/scene_data/plan_frame_field_roles.csv
The file was modifiedreplayer/scene_data/config_proto_codec.cpp
The file was modifiedreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
The file was modifieddata/dp_poly_path/dp_road_graph.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_field_roles.json
The file was modifiedreplayer/scene_data/compact_numeric_policy.yaml
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_encoder.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedreplayer/scene_data/compact_numeric_leaf_contract.csv
The file was modifiedreplayer/scene_data/generated/full_custom_codec_coverage_audit.yaml
The file was modifiedreplayer/scene_data/generated/plan_frame_descriptor.pb
The file was modifieddata/plan_frame.cpp
The file was modifiedproto/config.proto
The file was modifiedreplayer/scene_data/generated/scene_replay_api_descriptor.pb
The file was modifieddata/config/cfg_dynamic.cpp
The file was modifiedTesting/scene_replay_foundation_test.cpp
The file was modifieddata/config/cfg_dynamic.hpp
The file was modifiedreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
Commit 62885152c75772075c26f3f7e9f4e2c21b3670ae by wuyanjun110
fix: 复用直行出堆场开关控制入堆场弯道禁停

直行入堆场与出堆场共用 use_func_straight_out_yard_park 参数，保留各自总开关及转弯、穿堆场策略。

扩展回归覆盖入场、出场、穿场、转弯及开关恢复；修改已在 feat_daxie_proto 完成分布式编译，17 项禁停相关测试通过。
The file was modifiedTesting/disable_stop_regression_test.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit f86e45c7294f184fa67775f6d80a65bc9771dc45 by wuyanjun110
fix: 补齐普通路由非末段终点停车防护

普通 routing 在非 bulk in 场景使用当前段终点距离创建停止线，避免同向
分段路由索引未切换时丢失终点停车约束；保留 bulk in、SSEP 和混合
路径的末段判断，并过滤无效终点距离。越过终点后继续保留停车约束。

接收任务时对换向途经点连接同向路由记录错误日志，不改变任务、
操作方向或停车策略。补充录制负距离、连续重规划、真实换向、
bulk in 切换及无效数据回归，并修正双向 IMV 测试的车型子类型配置。
The file was modifiedTesting/bulk_speed_limit_test.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedTesting/routing_transition_test.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 3f75b855094641c5d375307be7180a5ab3050ef7 by wuyanjun110
fix: 修复 cluster 速度滤波残值误触发变道临停

动静确认改用当前有效刚体位移测量的速度累计证据，避免单次位移的
滤波残值在后续零位移测量中重复计为运动证据。预测与关联继续使用
滤波速度，并保留原有动静确认阈值及静止迟滞。

补充单次跳动后静止、持续运动目标仍触发碰撞风险的回归测试，
为连续 bag 回放增加 cluster 风险、轮廓和独立停车 Range 诊断。

验证：相关 100 项测试通过；津西 bag 使用指纹一致的 1.0.15 地图，
460 帧 CPU 子链连续回放中，修复前重现录制的 12 帧临停，修复后为 0。
验证覆盖跟踪、风险评估和 Range 创建，不包含完整车辆闭环。
The file was modifiedTesting/compact_driving_corridor_restore_test.cpp
The file was modifieddata/obstacle/cluster_lane_change_safety_test.cpp
The file was modifieddata/obstacle/cluster_motion_tracker.cpp
Commit 4bad66115966ad2e0f52c11bb72fb96e162c05c6 by wuyanjun110
fix: 减少拖挂多段搜索的重复碰撞验收耗时

为单次静态地图搜索构建碰撞线段空间索引，并按完整边几何缓存
normal 扩展检查结果；缓存有容量上限，超时不缓存，stop 仍独立验收。

窄换向偏好阶段没有有效候选且再次命中同一精确碰撞边时，提前转入
已有任务区域兜底，保留总请求时限、最终碰撞检查和换向区域上限。
增加索引等价性、缓存生命周期、超时及阶段切换测试。

验证：105 项相关单测通过，1 项原有禁用；Orin 两个现场场景共 6 次
实际 GPU 回放成功，独立碰撞检查为零。拖挂回归执行 37 条真实 GPU
测试，9 条原规则失败在修复前同样失败；另有途经点走向不符合业务
要求但被旧规则判过的案例，两版 273 个路径状态完全一致，仍待修复。
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/forward_clearance_check.h
The file was modifiedssep/test/forward_clearance_check_test.cc
The file was modifiedssep/test/ssep_planner_test.cc
Commit 9c065453895757fcf39346e2aa6265d24a24ccd1 by wuyanjun110
feat: 同一停车任务沿用起点规则选定的曲率参数

通过 task_persistent_params 显式选择完整的三项停车曲率参数，
在实际提交搜索后绑定，同任务跨位置、途经点完成和倒车重搜保留。
任务身份或终点变化、取消、结束时清除，仅向停车规划器恢复参数。

补齐跨帧继承、Full/Compact/Candidate 类型化状态与缺字段兼容，
增加配置校验、生命周期及实际任务身份回放测试。

验证：146 项场景配置测试、46 项状态与配置回放测试通过；
生成文件、字段覆盖及 Proto breaking 检查通过。
The file was modifiedTesting/scene_replay_foundation_test.cpp
The file was modifieddata/ssep/ssep_scenario_config_loader.cpp
The file was modifiedreplayer/scene_data/generated/scene_replay_api_descriptor.pb
The file was modifiedreplayer/scene_data/plan_frame_full_mapping.yaml
The file was modifiedreplayer/scene_data/compact_numeric_leaf_contract.csv
The file was modifiedreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
The file was modifiedreplayer/scene_data/generated/full_custom_codec_coverage_audit.yaml
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/other/parking_pass_progress.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedproto/plan_data.proto
The file was modifiedTesting/ssep_scenario_config_lifecycle_test.cpp
The file was modifiedreplayer/scene_data/compact_numeric_policy.yaml
The file was modifiedplan/prepare/prepare_state.cpp
The file was modifiedreplayer/scene_data/generated/compact_scene_descriptor.pb
The file was modifiedreplayer/scene_data/plan_frame_field_roles.csv
The file was modifiedreplayer/scene_data/full_proto_custom_encoder.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_descriptor.pb
The file was modifiedtasks/plan/ssep_task.cpp
The file was modifiedreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedreplayer/scene_data/compact_custom_field_proto_codec.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_field_roles.json
The file was addeddata/ssep/parking_task_params.hpp
The file was modifiedreplayer/scene_data/generated/plan_frame_encoder.cpp
Commit 41636368c43329dddd33897cdeeb1da138d9a5f9 by wuyanjun110
fix: 保留 IMV 禁止翻头时的起始操作头身份

IMVGeneral 禁止起点翻头时保留当前操作模式，避免首次同点搜索丢失换向信息。补充首次搜索、换向和停稳重搜的输入及场景导出回归用例，并更新起点偏移任务退出后的预期。
The file was modifiedTesting/ssep_path_corridor_test.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 5c25d678b02ef79a686dade0330785c3a26bbda4 by wuyanjun110
fix: 诊断窗口显示实际执行的横向规划器

按任务实际执行情况记录规划器，逐帧清除历史记录；SSEP 原始路径直出时显示无横向规划器。
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/stage.cpp
Commit c466a901055983a21871cb475392d8a6ef514795 by wuyanjun110
feat: 支持场景组合条件与 IMV 出库固定直行

兼容原有 OR 条件列表，增加 all/any、库区位置及 SSEP 首末中段条件，同步 Full/Compact 配置合同。

支持指定分段直接使用 SSEP 路径及 BulkOut 末段选择 KEB；IMV 沿物理车头直行并在重搜时保留剩余距离，两段式搜索不重复施加首段约束。

验证：foundation 541 项、routing 138 项、corridor 237 项通过；SSEP 相关 29 项通过，foundation 13 项可选测试跳过。
The file was modifiedTesting/reverse_pickup_stage_selector_test.cpp
The file was modifiedtools/pnc_proto_mapper/generate_exact_numeric_codec.py
The file was addeddata/ssep/location_condition.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
The file was modifiedproto/config.proto
The file was modifiedreplayer/scene_data/generated/plan_frame_field_roles.json
The file was modifiedTesting/parking_pass_progress_test.cpp
The file was modifiedreplayer/scene_data/generated/compact_scene_descriptor.pb
The file was modifiedreplayer/scene_data/cfg_scenarios_proto_codec.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifiedreplayer/scene_data/generated/plan_frame_encoder.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_descriptor.pb
The file was modifieddata/ssep/offline_obstacles_loader.cpp
The file was modifieddata/ssep/offline_obstacles_loader.hpp
The file was modifiedTesting/cfg_scenarios_proto_codec_test.cpp
The file was modifiedreplayer/scene_data/plan_frame_field_roles.csv
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/other/head_straight_progress.cpp
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
The file was modifieddata/ssep/ssep_scenario_config_loader.cpp
The file was modifiedTesting/ssep_path_corridor_test.cpp
The file was modifiedssep/test/head_straight_distance_test.cc
The file was modifiedtools/pnc_proto_mapper/test_exact_numeric_codegen.py
The file was modifieddocs/pnc_algorithm_replay/plan_frame_field_contract_notes.md
The file was modifiedTesting/scene_replay_foundation_test.cpp
The file was modifiedreplayer/scene_data/compact_numeric_policy.yaml
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedreplayer/scene_data/compact_numeric_leaf_contract.csv
The file was modifieddata/config/cfg_stage.hpp
The file was addeddata/ssep/location_condition.hpp
The file was modifiedreplayer/scene_data/generated/scene_replay_api_descriptor.pb
Commit dccb10f976ff8a4e11c758ec1d710d0cf8d99b3a by wuyanjun110
fix(map): 修正禁偏移区域从车道坐标到引导线坐标的转换
The file was modifieddata/boundary/road_boundary.cpp
Commit 8e72ae7d875c12311da5e7732d260d8c24bf91ee by wuyanjun110
feat(sidepass): 允许绕行合格静止机动车旁的居中两轮车

- 按静止状态、跟踪成熟度、邻接距离及预测运动判断绕行资格
- 先确定机动车策略，避免两轮车准入依赖障碍物遍历顺序
- 保留横穿解除迟滞及条件失效后的绕行承诺撤销
- 保留静止两轮车预测，支持运动风险检查
The file was modifieddata/obstacle/obstacle.cpp
The file was modifieddata/obstacle/decision/obstacle_decision.cpp
Commit 6c0824c216a0f1640de2398a81eb76966667099b by wuyanjun110
fix(map): 过滤路口出入口连续共线边，避免道路边界异常收窄

路径穿过多边形边时，同时过滤两侧连续共线邻边，
避免入口被多个顶点拆段后残留边参与道路边界求交。

复用现有平行及共线判断，支持闭合首尾并跳过零长度边；
遇到转角停止扩展，不改变合并包络生成逻辑。
The file was modifieddata/boundary/road_boundary.cpp
Commit 260f1110c6038c9cbd1498a2535be0fefc9b3f00 by wuyanjun110
fix(traffic-light): 修正路口通行耗时计算并保持近线红转绿放行

按当前速度、额定加减速度和路口限速计算通行时间。
保持已生效的停车要求，避免减速末段因制动距离豁免撤销停车。
原始停止线一米内经历红转绿后允许放行，不再要求车辆静止。
同步停车保持和放行状态的 Full/Compact 编解码及字段合同。
The file was modifiedreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifiedreplayer/scene_data/compact_numeric_leaf_contract.csv
The file was modifiedTesting/scene_replay_foundation_test.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedproto/decision.proto
The file was modifiedreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_field_roles.json
The file was modifiedreplayer/scene_data/compact_custom_field_proto_codec.cpp
The file was modifiedreplayer/scene_data/generated/plan_frame_encoder.cpp
The file was modifiedreplayer/scene_data/generated/scene_replay_api_descriptor.pb
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifiedreplayer/scene_data/generated/compact_scene_descriptor.pb
The file was modifieddata/constrain/block_data.hpp
The file was modifiedproto/config.proto
The file was modifiedreplayer/scene_data/generated/plan_frame_descriptor.pb
The file was modifiedreplayer/scene_data/plan_frame_field_roles.csv
The file was modifiedreplayer/scene_data/compact_numeric_policy.yaml
Commit 95a60bf56ca2cdd45d5a0a78b4366ee817697ad6 by wuyanjun110
fix(sidepass): 补全两轮车预测运动检查与承诺退出条件

检查原始预测的全部分支，避免零初速 C2V 和非优选运动预测被忽略。未靠边目标仅在本帧满足相邻静止例外时豁免承诺硬退出，不以通用 ALLOW 代替安全判定。

适配两阶段决策与现有取消任务后机动车标签恢复流程，补充正常静止例外、两类预测运动和类型策略关闭时边界缺失的回归。
The file was modifieddata/obstacle/decision/obstacle_decision.cpp
The file was modifieddata/obstacle/decision/obstacle_decision_test.cpp
Commit 3dcd53eb0eb9d4786209096a235efda466d0dd3b by wuyanjun110
fix: 修正 SSEP 曲率方向与控制转向约定

按路径点序计算左正右负的有符号曲率，消除旧叉积阈值导致的方向反转和采样间距依赖，避免左转路径原地打轮时先向右打。

在倒车分段和挂车参考路径转换处显式转为车头方向曲率，保持与控制原地转向及 MPC 前馈公式一致。重复点返回零曲率，不足五点时清理旧曲率，防止重复计算翻转缓存。

补充魏桥现场样本、左右转、前后换向、不同采样间距、退化点、短路径重复计算及挂车参考方向回归。

验证：clang-format 21.1.8；Icecream 分布式构建成功；pnc_ssep_path_corridor_test 共 244 项通过。
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedTesting/ssep_path_curvature_test.cpp
The file was modifieddata/ssep/ssep_util.cpp
Commit 5d58b8d53e668e7395fb0a3b03e5ed975d12ed95 by wuyanjun110
fix: 修复多段路由换向点停车原因冲突

先建立本帧操作头换向停车约束，仅在该约束匹配有效且距离有限时，
抑制普通路由非末段重复的绝对终点停车线，避免 ABSOLUTE_SIGN_STOP
抢占停因后阻止路由释放当前段。保留末段、同向和换向投影失败时的
终点停车防护，并修正操作头数组的边界判断。

新增换向停因及路由释放、模式进入持续退出、无效路由、投影失败恢复
和约束匹配失效的回归；测试只隔离外部地图查询，执行生产约束和停因逻辑。

验证：分布式编译通过，38 项单测通过，clang-format 21 修改范围检查通过。
东方特钢 309 bag 使用精确地图加载成功，但输入恢复报
standby_index_seed_missing，未执行到修复逻辑，现场回放验收尚未完成。
The file was modifiedTesting/bulk_speed_limit_test.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedTesting/CMakeLists.txt
Commit 3b6c1b5c369cde9c6051551df5f90c0cf4318c09 by liuhongshuo
feat: 对准受阻检测功能增加开关 增加静止防抖
The file was modifiedreplayer/scene_data/generated/plan_frame_descriptor.pb
The file was modifiedproto/config.proto
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedreplayer/scene_data/generated/full_custom_codec_coverage_audit.yaml
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedreplayer/scene_data/config_proto_codec.cpp
The file was modifiedreplayer/scene_data/generated/compact_scene_descriptor.pb
The file was modifiedTesting/step_align_distance_source_test.cpp
The file was modifiedreplayer/scene_data/compact_numeric_policy.yaml
The file was modifiedreplayer/scene_data/generated/config_schema_inputs.json
The file was modifiedreplayer/scene_data/generated/plan_frame_encoder.cpp
The file was modifiedreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
The file was modifiedreplayer/scene_data/generated/scene_replay_api_descriptor.pb

Summary

  1. feat_out: 车道扩展bug修复 (details)
Commit 61f55f3f95d0aaa029e2c5e1391a79c7244051c9 by caoxue
feat_out: 车道扩展bug修复
The file was modifiedrouting/result_generator.cc

Summary

  1. fix_bug:修复异常切包带来的问题 (details)
  2. feat_out:包名称修改 (details)
  3. feat_out:支持可配置的monitor持续录包及整分钟对齐切包 (details)
  4. fix_bug:仅在sustain中配置的topic缓存为0导致未录制 (details)
  5. fix_bug:按订阅topic名写包并增加sustain录制诊断日志 (details)
  6. feat_out:sustain持续录制增加enable开关，默认开启 (details)
  7. feat_out:monitor包写入日期目录 (details)
  8. feat_out:全量包去掉日期目录，滚动删除仅限本次运行的当天文件 (details)
Commit c6e2344434bd139f348f038fd6471b7ba2ad40b0 by zhaojianfeng2
fix_bug:修复异常切包带来的问题
The file was modifiedsrc/utils/bag_task_config.h
The file was modifiedsrc/bag/ros_bag_keeper.h
Commit 53cc6a51532d8e0b284bd725e2e0b270dfbc43a7 by zhaojianfeng2
feat_out:包名称修改
The file was modifiedsrc/CMakeLists.txt
The file was modifiedsrc/session/task_session.cpp
The file was modifiedcommon/environment.h
The file was modifiedpackage.xml
The file was modifiedsrc/bag/ros_bag_keeper.h
The file was addedcommon/environment.cc
Commit 7a84678a113f829f67d83ad65e5817acdafc5733 by zhaojianfeng2
feat_out:支持可配置的monitor持续录包及整分钟对齐切包
The file was modifiedconfig/recorder.toml
The file was modifiedsrc/utils/bag_task_factory.h
The file was modifiedsrc/utils/bag_task_config.h
The file was modifiedsrc/utils/record_config.cpp
The file was modifiedsrc/bag/ros_bag_keeper.h
The file was modifiedsrc/common.h
Commit ccb079c6d8a249bb639d1410c4ca0d6a570f9dd9 by zhaojianfeng2
fix_bug:仅在sustain中配置的topic缓存为0导致未录制
The file was modifiedsrc/common.h
The file was modifiedsrc/cache/ros_topic_cache.h
The file was modifiedsrc/utils/record_config.cpp
Commit 4e698ff50a6ebcaded7e67d31caec7194eef1d3c by zhaojianfeng2
fix_bug:按订阅topic名写包并增加sustain录制诊断日志
The file was modifiedsrc/cache/ros_topic_tf_cache.h
The file was modifiedsrc/utils/record_config.cpp
The file was modifiedsrc/session/task_session.h
The file was modifiedsrc/cache/ros_topic_cache.h
The file was modifiedsrc/bag/ros_bag_keeper.h
The file was modifiedsrc/cache/subscriber_manager.h
The file was modifiedsrc/session/task_session.cpp
The file was modifiedsrc/cache/ros_message.h
Commit db0275cb96a4645e1cae520184b93e6a506be258 by zhaojianfeng2
feat_out:sustain持续录制增加enable开关，默认开启
The file was modifiedsrc/common.h
The file was modifiedconfig/recorder.toml
The file was modifiedsrc/utils/record_config.cpp
Commit 9671d12ab58eb227e4d150fbf5eed16351a28a6f by zhaojianfeng2
feat_out:monitor包写入日期目录

output_prefix 直接落在 monitor 根目录，津西车上实际是 /senior/upload/monitor/日期/。
The file was modifiedsrc/bag/ros_bag_keeper.h
The file was modifiedconfig/recorder.toml
Commit 2327552ac84a0bde1dc8cf32c9e2402f288dece1 by zhaojianfeng2
feat_out:全量包去掉日期目录，滚动删除仅限本次运行的当天文件
The file was modifiedconfig/recorder.toml
The file was modifiedsrc/bag/ros_bag_keeper.h