[Jenkins]Jenkins

Changes

Summary

  1. feat_out:增加全量上传topic (details)
  2. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  3. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
Commit 303eb68645d43fc7e1695415feada4be3a0feb4b by zhaojianfeng2
feat_out:增加全量上传topic
The file was addedcloud_msgs/msg/RecordTransferResult.msg
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
The file was modifiedcloud_msgs/CMakeLists.txt
Commit 9883b8e30f68386d2c45c5d424f7d5c0d859fc23 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 5ed395184976ac2e53d71877213b95b907e55a89 by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg

Summary

  1. feat: 支持配置堆高机靠近时的锁定时机 (details)
  2. fix: 增强参考道路段空数据防护 (details)
  3. feat: 支持 SSEP 历史路径热启动重规划 (details)
  4. fix: 统一重规划上下文与路径连续性 (details)
  5. feat: 完善重规划诊断与回放标记 (details)
  6. fix: 防止空导引线限速触发规划崩溃 (details)
Commit 95abd6611a10084bdd69c0224af7bb14018b1491 by wuyanjun110
feat: 支持配置堆高机靠近时的锁定时机

新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。

关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit be97bd11818392827b82fb21f3d9b753b9b137ec by wuyanjun110
fix: 增强参考道路段空数据防护

在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifiedTesting/routing_map_guard_test.cpp
Commit f21ee3c634f23a0acf6e7975861e786781cd71dd by wuyanjun110
feat: 支持 SSEP 历史路径热启动重规划

新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/data_structures/ssep_input.hpp
The file was modifiedssep/protos/scene.proto
The file was modifiedssep/test/ssep_planner_test.cc
Commit 8c40c03db463ae1c8a77fcb84bbcfa029c1baecf by wuyanjun110
fix: 统一重规划上下文与路径连续性

集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。

输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。

人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。
The file was modifiedTesting/ssep_path_corridor_test.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedtasks/deciders/search_decider/into_yard_junction_search_decider.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedtasks/deciders/search_decider/seaside_junction_search_decider.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/plan/smooth_task.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifieddata/other/flow_control.hpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
The file was modifiedtasks/deciders/search_decider/open_space_search_decider.cpp
The file was modifiedtasks/plan/ssep_task.cpp
The file was modifiedtasks/deciders/search_decider/reverse_search_decider.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedtasks/deciders/search_decider/out_yard_junction_search_decider.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 6d37803e28c9fbd14955f9a37cbc03728f9863dc by wuyanjun110
feat: 完善重规划诊断与回放标记

HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedhmi/widget/diagnose.cpp
Commit 9f8dc40070d828bd0a70c2153605c7871ece79d1 by wuyanjun110
fix: 防止空导引线限速触发规划崩溃

在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。

将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。
The file was modifieddata/plan/guide_line.cpp
The file was modifiedTesting/routing_map_guard_test.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp