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#21752175false21751357205SUCCESS1792416566933http://159.27.114.184:8080/jenkins/user/liuning/my-views/view/all/job/module-pnc_replayer/2175/- ssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/tractor_trailer_kinematic_weight_test.ccdocs/ssep/parking_staged_optimization.mdf1c5d10c8f1d064bf9fc555a56383b39887ee8ba1792387525000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 约束拖挂换向后的首段曲率变化
换向节点的 pinch 控制下一条实际行驶边，不应因停车轮角调整而放宽动态上限。
统一单层和双层 KEB 建图，保留显式停车转向的运动学语义。
新增正反向切换、两类建图及实际优化求解的自动化回归。
验证：完整单测 387 通过、13 跳过；补充 3 个共享优化器出库案例通过。
2026-10-19 13:25:25 +0800f1c5d10c8f1d064bf9fc555a56383b39887ee8bafix: 约束拖挂换向后的首段曲率变化editssep/test/tractor_trailer_kinematic_weight_test.cceditdocs/ssep/parking_staged_optimization.mdeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/test/trailer_search_guide_test.ccssep/coarse_search/evaluator/trailer_search_guide.hssep/coarse_search/evaluator/trailer_search_guide.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdocs/ssep/trailer_search_guide.md0b2ddc31c1cafaf7639f99afe0899a9b07b232a91792387538000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持引导线起点位姿软偏好
新增默认关闭的 trailer_search_guide_prefer_entry_pose，按原始引导首点位置、
车头及挂车朝向调整搜索启发和可行候选评分，保留原任务区域硬约束及失败回退。
补充严格布尔解析、裁剪后锚点保持、位置与姿态软评分自动化测试。
验证：完整单测 387 通过、13 跳过；津西现场包和历史场景 CPU/GPU 回归完成。
2026-10-19 13:25:38 +08000b2ddc31c1cafaf7639f99afe0899a9b07b232a9feat: 支持引导线起点位姿软偏好editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/test/trailer_search_guide_test.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/evaluator/trailer_search_guide.cceditssep/coarse_search/evaluator/trailer_search_guide.heditdocs/ssep/trailer_search_guide.mdeditssep/test/ssep_planner_test.cc
- ssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/ssep_planner_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdocs/ssep/trailer_search_guide.mdc513d44b41ced9f2ef8444e6e9beea1e9588b42c1792387551000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优先搜索 GPU 近距离换向并验证回退
有匹配引导时先在参考点附近搜索，完整优化和验收成功后才采用，失败再放宽。
近点、Beam 和兼容搜索共用简单搜索预算，保留调整兜底和统一请求 deadline。
补充 6 项调度自动化测试，覆盖优化或验收拒绝、预算耗尽、队列清理及跨请求恢复。
验证：完整单测 387 通过、13 跳过；37 次真实 GPU 回放完成，保留既有失败记录。
相邻曲率平滑权重实验出现夹角回归，暂不纳入本次提交。
2026-10-19 13:25:51 +0800c513d44b41ced9f2ef8444e6e9beea1e9588b42cfix: 优先搜索 GPU 近距离换向并验证回退editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdocs/ssep/trailer_search_guide.mdeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/test/ssep_planner_test.cc
- Testing/search_decider_lifecycle_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppdata/plan/ssep_task_context.hpptasks/deciders/search_decider/search_decider_lifecycle.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.mdf2c4987bcfb5a1a4e1bb5e679fc1567aec4e2ac21792392911000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复极限变道任务交接时重复搜索
堆场同一轮极限变道接收新任务时，校验方向、车道、目的地及已生效搜索，
允许沿用有效路径和原完成终点，避免重搜不断前移变道完成点。
使用 center_line_info 的目标中心线校验旧终点范围和位姿，核对索引与
车道 ID，支持跨路段中心线及索引重排；失效、取消和真实目标变化仍清理。
保留人工重搜入口，补充连续任务、完成退出及 23 类失配等回归。
更新生命周期文档和数据头审计生成哈希。
验证：pnc_reference_line_replan_test 419 项通过、61 项跳过、0 失败；
pnc_replayer 分布式编译通过，生成物和 Proto 边界检查通过。
未执行原 bag 完整算法回放或实车验收。
2026-10-19 14:55:11 +0800f2c4987bcfb5a1a4e1bb5e679fc1567aec4e2ac2fix: 修复极限变道任务交接时重复搜索editdata/plan/ssep_task_context.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/search_decider_lifecycle_test.cppeditdocs/ssep_search_lifecycle.mdedittasks/deciders/search_decider/search_decider_lifecycle.hppeditdata/plan/ssep_task_context.cppedittasks/deciders/search_decider/search_decider_lifecycle.cpp
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsonTesting/continuous_junction_replan_test.cppdata/ssep/base_stop_line_filter.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/base_stop_line_filter.hppdocs/ssep_search_lifecycle.md7fde9d90b56c90cbc90c2cd660f056d2247a455e1792395507000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复连续进堆场因参考线未创建而漏触发搜索
REPLAN_DECIDER 早于 CREATE_REFERENCE_LINE 执行，原有连续入场判断读取
尚未生成的当前帧参考线，导致第二个入场路口未触发搜索并持续沿用旧目标。
从当前局部地图重新选线并构造临时参考线，按当前地图位置匹配。
复用原停止线筛选规则，完整保留相邻路段停止线和连续路口跳过语义。
不改写当前帧参考线，保留禁搜、同路口及已有请求的抑制条件。
调整连续入场回归以覆盖真实任务顺序，补充旧参考线干扰及目标几何缺失；
同步生命周期说明和数据头文件审计哈希。
验证：连续入场专项 48 项通过；相关回归共 593 项通过、61 项跳过、0 失败。
pnc_node 构建及生成文件、Proto 兼容检查通过。
本地复现日志确认 1010 -> 1008 触发第二次搜索，SSEP success 后 KEB 继续优化。
2026-10-19 15:38:27 +08007fde9d90b56c90cbc90c2cd660f056d2247a455efix: 修复连续进堆场因参考线未创建而漏触发搜索edittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/base_stop_line_filter.hppeditTesting/continuous_junction_replan_test.cppeditdocs/ssep_search_lifecycle.mdeditdata/ssep/base_stop_line_filter.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- ssep/keb_optimizer/control_space_path_adapter.ccssep/test/control_space_refiner_test.ccssep/keb_optimizer/control_space_path_adapter.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/continuous_path_sampling.hssep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hcf505c56ed40fadd4d84e1dd7d2c7664e159e4241792401008000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 保留轨迹优化重采样后的原始锚点映射
为连续增密和控制空间重采样提供原节点到输出节点的映射，明确已删除内点无映射。
在候选验收、拒绝回退和最终输出之间同步映射，重建问题时清理缓存。
补充连续增密、映射恢复及前进和倒车控制空间成功候选测试。
验证：相关规划与优化测试 58 项、控制空间测试 10 项全部通过。
2026-10-19 17:10:08 +0800cf505c56ed40fadd4d84e1dd7d2c7664e159e424feat: 保留轨迹优化重采样后的原始锚点映射editssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/control_space_path_adapter.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/continuous_path_sampling.heditssep/keb_optimizer/control_space_path_adapter.heditssep/test/control_space_refiner_test.cceditssep/test/tractor_trailer_kinematic_weight_test.cc
- ssep/test/ssep_planner_test.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc06b4571850370434ebf0fc83fd8db0d83191f6021792401051000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 按倒车优先级搜索首个途经段并支持失败回退
仅起点至首个未到达途经点依次尝试纯倒车、前进调整后倒车、倒车前进再倒车。
后续搜索或整体优化失败时尝试下一档，共享请求预算并恢复锚点与粗路径状态。
完整候选检查精确换向次数，优化后通过原始锚点映射保持首段方向拓扑。
补充窄走廊、后续段自由调整、过期预算及优化失败后回退和重复规划测试。
验证：相关 CPU 测试共 68 项通过；单段泊车正式回归集 2/2 通过。
津西指定现场场景由三段调整为前进约 0.88 米后倒车，共两段。
2026-10-19 17:10:51 +080006b4571850370434ebf0fc83fd8db0d83191f602feat: 按倒车优先级搜索首个途经段并支持失败回退editssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/test/ssep_planner_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
- data/dp_poly_path/dp_road_graph.cppTesting/wbca_smooth_continuity_test.cpptasks/plan/path_optimization_task.hpptasks/plan/path_optimization_task.cppdata/dp_poly_path/dp_road_graph_test.cppdb5bbd3ca87894704da4bd242aa1a0d59998c85a1792401373000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 对齐绕行搜索与优化范围以修复末端窄边界
按当前走廊覆盖生成 DP 采样并预留车体余量，修复历史采样删除和末段续采样。将正常优化及搜索失败平滑降级限制到实际 DP 路径，并在采用异步结果前校验尾部覆盖，避免使用搜索范围外的错误边界。
补充正倒车范围、历史缩短、远端窄通道与 WBCA 覆盖测试。验证 41 项 DP/走廊测试、36 项 WBCA 测试，以及 AT001 场景 460 帧回放和两个关键帧独立 WBCA 求解。
2026-10-19 17:16:13 +0800db5bbd3ca87894704da4bd242aa1a0d59998c85afix: 对齐绕行搜索与优化范围以修复末端窄边界editdata/dp_poly_path/dp_road_graph_test.cppedittasks/plan/path_optimization_task.cppeditdata/dp_poly_path/dp_road_graph.cppeditTesting/wbca_smooth_continuity_test.cppedittasks/plan/path_optimization_task.hpp
- Testing/compact_driving_corridor_restore_test.cppdocs/pnc_algorithm_replay/dp_corridor_performance.mdc00a3349922a8acfc2a7db6a0c19f096407979691792401383000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加绕行采样重建与关键帧优化回放验证
支持按当前走廊显式重建 DP 采样，避免复用录制采样掩盖范围修改。增加指定帧独立 WBCA 优化和结果导出，等待异步计算完成并断言成功。文档注明额外准备开销和独立回放的验证范围。
2026-10-19 17:16:23 +0800c00a3349922a8acfc2a7db6a0c19f09640797969test: 增加绕行采样重建与关键帧优化回放验证editTesting/compact_driving_corridor_restore_test.cppeditdocs/pnc_algorithm_replay/dp_corridor_performance.md
- ssep/test/local_regression/tt_ordered_first_stage_cpu_manifest.tsvssep/test/local_regression/tt_ordered_first_stage_quality.jsonssep/test/local_regression/README.mdssep/test/local_regression/tt_ordered_first_stage_cases.json0afd1a71d1ca0eb386922263d4672f9b3fd5f9e21792401629000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 将津西首段前进调整场景纳入 CPU 回归集
登记 AT001 在 2026-10-16 17:09:43 的原始场景，固定共享目录路径和源 SHA。
验收 CPU 规划成功、前进后倒车两段，保留原始参数且不固定前进调整距离。
补充来源、规则边界及回归入口说明，历史录制轨迹仅作为参考。
验证：通用准备入口自动发现新增案例，正式 CPU 回放 1/1 通过并生成 HTML 对照报告。
2026-10-19 17:20:29 +08000afd1a71d1ca0eb386922263d4672f9b3fd5f9e2test: 将津西首段前进调整场景纳入 CPU 回归集addssep/test/local_regression/tt_ordered_first_stage_quality.jsonaddssep/test/local_regression/tt_ordered_first_stage_cases.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/tt_ordered_first_stage_cpu_manifest.tsv
- Testing/reference_line_replan_test.cpptasks/other_tasks/create_guide_line.cppTesting/CMakeLists.txtTesting/compact_driving_corridor_restore_test.cppdata/plan/guide_line.cppc9739fb739606828d3e2dfb535666fe02bdd13f61792404597000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持散货搜索引导线的历史路径连续性
首段前进搜索沿匹配的历史优化路径构造前缀，并按当前参考线补齐车道属性和重新计算接缝里程。搜索等待期间保留并重匹配历史参考线，避免回放重建丢失引导线。增加历史前缀、等待跨帧和实包几何输出验证。
2026-10-19 18:09:57 +0800c9739fb739606828d3e2dfb535666fe02bdd13f6fix: 保持散货搜索引导线的历史路径连续性edittasks/other_tasks/create_guide_line.cppeditTesting/CMakeLists.txteditTesting/reference_line_replan_test.cppeditTesting/compact_driving_corridor_restore_test.cppeditdata/plan/guide_line.cpp
- Testing/reference_line_replan_test.cpptasks/deciders/lat_decider/path_bounds_decider.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppdata/boundary/driving_corridor.cppTesting/compact_driving_corridor_restore_test.cppab9103317edd70369934796c8381d2bf646bef731792404608000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止散货搜索过渡阶段访问空道路边界
道路边界为空时清除旧走廊及路径边界并返回失败。过渡阶段传播任务错误、清理旧规划输出并保持当前阶段，避免断言崩溃和提前切换。增加空边界及阶段错误回归，并支持实包验证至约束生成任务。
2026-10-19 18:10:08 +0800ab9103317edd70369934796c8381d2bf646bef73fix: 防止散货搜索过渡阶段访问空道路边界editTesting/compact_driving_corridor_restore_test.cppeditTesting/reference_line_replan_test.cppedittasks/deciders/lat_decider/path_bounds_decider.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditdata/boundary/driving_corridor.cpp
- data/plan/ssep_data.cppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/app/fsm/motion_fsm/motion_fsm.cppdata/plan/ssep_data.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/tractor_trailer_exit_parking_spot_planner.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdconfig/config_truck/ssep_port_scenarios_jinxi.yamlreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamlTesting/routing_map_guard_test.cppssep/test/ssep_planner_test.ccplan/prepare/prepare_state.cppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvssep/ssep_planner.ccreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppreplayer/scene_data/generated/plan_frame_descriptor.pb63c0ed2e19d37b2ea950c8c5fa2a932aec23f5811792413281000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持按位置强制挂车先倒车再前进出库
新增 require_initial_reverse 配置，强制通过倒车后前进的搜索与优化验收，
无解时不回退纯前进，历史重优化不能绕过方向约束。
按任务持久化倒车完成状态，完成实际换向后停止重复倒车；通过原始路径
投影检查执行进度，避免短倒车段在起点直接切换，同时保留安全停车及超调检查。
同步 Full/Compact 编解码、字段合同和津西指定坐标配置。
验证：329 项相关自动化测试及 3 个 CPU 场景回放通过，生成与兼容性检查通过。
2026-10-19 20:34:41 +080063c0ed2e19d37b2ea950c8c5fa2a932aec23f581feat: 支持按位置强制挂车先倒车再前进出库editproto/plan_data.protoeditreplayer/scene_data/plan_frame_field_roles.csveditTesting/routing_map_guard_test.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditdata/app/fsm/motion_fsm/motion_fsm.cppeditTesting/scene_replay_foundation_test.cppeditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/test/ssep_planner_test.cceditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/plan/ssep_data.hppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/plan/ssep_data.cppeditplan/prepare/prepare_state.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditssep/ssep_planner.cceditreplayer/scene_data/compact_numeric_policy.yamleditdata/ssep/ssep_ec.cppeditTesting/parking_pass_progress_test.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pb
- ssep/test/local_regression/README.mdssep/test/local_regression/tt_exit_feasibility_manifest.tsvssep/test/local_regression/tt_exit_forward_only_overlay.jsond41a19828918cf9ca4102ae790bd5cf6981407021792413291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 固定津西直接前进出库位置的回归例外
将 2026-09-30 10:29:18 原版与仅前进派生场景统一配置为一段前进，
显式关闭初始倒车和倒车调整，避免批量倒车优先实验覆盖人工确认规则。
在回归说明中登记位置及例外要求，保留录制输入原样。
验证：两份输入 CPU 回放均通过，输出约 47.7 米的一段前进路径。
2026-10-19 20:34:51 +0800d41a19828918cf9ca4102ae790bd5cf698140702test: 固定津西直接前进出库位置的回归例外editssep/test/local_regression/README.mdaddssep/test/local_regression/tt_exit_forward_only_overlay.jsoneditssep/test/local_regression/tt_exit_feasibility_manifest.tsv
- data/plan/ssep_data.cppTesting/routing_map_guard_test.cppssep/test/ssep_planner_test.ccTesting/parking_pass_progress_test.cppssep/test/local_regression/README.mdconfig/config_truck/ssep_port_scenarios_jinxi.yamlssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/ssep_planner.ccdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cppssep/test/local_regression/tt_exit_forward_only_overlay.jsoncb853a183306ecdff3da4e1e3653dd405d06582a1792414244000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持挂车出库优先倒车及无解前进回退
新增 prefer_initial_reverse，先验收倒车再前进路径，无解后尝试纯前进，
共享总预算并为回退预留时间；保留 require_initial_reverse 的严格语义。
同步任务执行保护、历史重规划和津西模板参数，保留直接前进位置例外。
验证：448 项自动化测试及 3 个实际 CPU 场景回放全部通过。
2026-10-19 20:50:44 +0800cb853a183306ecdff3da4e1e3653dd405d06582afeat: 支持挂车出库优先倒车及无解前进回退editTesting/parking_pass_progress_test.cppeditssep/test/ssep_planner_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/plan/ssep_data.cppeditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/ssep_planner.cceditssep/test/local_regression/README.mdeditssep/test/local_regression/tt_exit_forward_only_overlay.jsoneditTesting/routing_map_guard_test.cppeditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditdata/ssep/ssep_ec.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110Started by upstream project "orin-module-slave32" build number 5,3615361orin-module-slave32job/orin-module-slave32/msgBranchrc_dev_yantaigunzhuangpncBranchfeat_sc_mpchdmapBranchnohdmapInterfaceBranchrc_devnotespncreplayer更新infoorin-module-slave32: 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#21742174false21741357147SUCCESS1792414760921http://159.27.114.184:8080/jenkins/user/liuning/my-views/view/all/job/module-pnc_replayer/2174/- ssep/offboard/servers/scene_vis_server.ccdata/plan/ssep_data.cppdata/vehicle/request_routing_data.cpphmi/draw/draw_ego.hppdata/vehicle/sc_turn_in_place_mode.hppTesting/app_open_space_passing_points_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/app/reaction/app_reaction.cpphmi/draw/draw_ego.cppCMakeLists.txtdata/app/reaction/app_reaction.hppdata/ssep/open_space_ec.cppdata/vehicle/sc_turn_in_place_mode.cppTesting/sc_rotation_publish_replay.cppdata/scenario/scenario_region_condition.cppbbd9b718e5b40e14ddef984147e81fde2e3cb3331792401587000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(pnc): select SC rotation from passing-point headings
Store separate start and end passing points and select initial rotation from
heading validity, preferring end when both headings are on the same side of
100.0. Preserve legacy end-only behavior and nearby-point propagation.
Store the initial target and derive reverse operation at that point, retaining
the decision across propagated rotations for the same command. Draw valid
passing-point headings in the HMI independently of active rotation targets.
Update serialization and regression fixtures, and bind the offboard scene
viewer to localhost.
Validation: 42 focused tests passed, affected C++ syntax checks passed, and
git diff --check passed. Full ROS replay and visual HMI checks were not run.
2026-10-19 17:19:47 +0800bbd9b718e5b40e14ddef984147e81fde2e3cb333fix(pnc): select SC rotation from passing-point headingseditssep/offboard/servers/scene_vis_server.ccedithmi/draw/draw_ego.hppeditdata/ssep/open_space_ec.cppedithmi/draw/draw_ego.cppaddTesting/app_open_space_passing_points_test.cppeditdata/scenario/scenario_region_condition.cppeditdata/vehicle/request_routing_data.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditdata/app/reaction/app_reaction.cppeditdata/vehicle/sc_turn_in_place_mode.cppeditdata/plan/ssep_data.cppeditTesting/sc_rotation_publish_replay.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/app/reaction/app_reaction.hppeditCMakeLists.txt
- data/plan/ssep_data.cppdata/vehicle/sc_turn_in_place_mode.hppdata/ssep/open_space_ec.cppdata/vehicle/sc_turn_in_place_mode.cppTesting/sc_turn_in_place_mode_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp37ef87eb6f798f43e922fb5d4eee5b6321a44a1d1792410111000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(pnc): honor end-only rotation rules when leaving open space
Share the heading threshold across rotation selection, routing completion, SSEP mode, and endpoint stops so nonrotating commands do not leave destination distance frozen.
Validation: 44 unit tests, syntax checks for four production units, and 317 offline selection/exit checks covering 17 recorded commands passed. Full closed-loop simulation was not run.
2026-10-19 19:41:51 +080037ef87eb6f798f43e922fb5d4eee5b6321a44a1dfix(pnc): honor end-only rotation rules when leaving open spaceeditdata/vehicle/sc_turn_in_place_mode.cppeditTesting/sc_turn_in_place_mode_test.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/plan/ssep_data.cppeditdata/ssep/open_space_ec.cpp
- data/plan/ssep_data.cppdata/ssep/open_space_ec.cppdata/vehicle/sc_turn_in_place_mode.cppTesting/sc_turn_in_place_mode_test.cppdata/vehicle/request_routing_data.cppdata/vehicle/sc_turn_in_place_mode.hppTesting/app_open_space_passing_points_test.cppdata/map/pnc_map/routing_extension/routing_data.cppCMakeLists.txte1da74b409b7416c478723fbae98925a4349b9e41792413451000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(pnc): cache end-only rotation decisions from receipt pose
Skip end-only rotation when the command-receipt physical heading error is below 10 degrees and lateral deviation is below 0.5 m. Preserve the physical receipt heading in reverse mode and share the cached decision across routing, SSEP, and rotation selection.
Refresh the cache on command acceptance, serialize it, and move non-template turn-in-place implementations into the cpp file.
Validation: 47 unit tests, five production syntax checks, and offline checks covering all 18 recorded target commands passed. Full closed-loop driving was not tested.
2026-10-19 20:37:31 +0800e1da74b409b7416c478723fbae98925a4349b9e4fix(pnc): cache end-only rotation decisions from receipt poseeditTesting/app_open_space_passing_points_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/open_space_ec.cppeditdata/vehicle/sc_turn_in_place_mode.cppeditTesting/sc_turn_in_place_mode_test.cppeditdata/vehicle/sc_turn_in_place_mode.hppeditdata/vehicle/request_routing_data.cppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txt
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