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#275275false2751312367FAILURE1789901919867http://159.27.114.184:8080/jenkins/view/all/job/telediagnostic/275/scripts/install_vehicle_abseil.mde53a2f2a35a3cbc597043bd6deada98e313940e41789483893000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充 Abseil 验证结果与回滚步骤记录 GCC 9.4 使用车端基准 Abseil 全量构建 pnc_node 成功，并补充手工恢复动态库后刷新 ldconfig 缓存的步骤。 2026-09-15 22:51:33 +0800e53a2f2a35a3cbc597043bd6deada98e313940e4docs: 补充 Abseil 验证结果与回滚步骤editscripts/install_vehicle_abseil.mdTesting/map_envelops_async_test.cppTesting/async_union_region_state_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/map/envelop/async_union_region_state.hppTaskfile.ymlCMakeLists.txtdata/map/envelop/map_envelops.cppca5ce322943abbb463f2a8a144923ca7aadc62eb1789532172000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复地图轮廓异步任务循环引用导致的内存泄漏异步任务仅持有计算输入并返回结果，使用 packaged_task 和分离线程解除状态与 future 的循环引用。重置及丢帧不等待任务，计算结束后自动释放资源，保留正常跨帧结果传递和主备轮廓行为。补充任务生命周期及真实轮廓集成回归，更新测试构建入口和头文件校验摘要。本轮实现已通过 17 项回归及 12800 次任务丢弃压力测试；提交前恢复到当前分支并复核生成校验。 2026-09-16 12:16:12 +0800ca5ce322943abbb463f2a8a144923ca7aadc62ebfix: 修复地图轮廓异步任务循环引用导致的内存泄漏addTesting/map_envelops_async_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditCMakeLists.txtadddata/map/envelop/async_union_region_state.hppeditTaskfile.ymladdTesting/async_union_region_state_test.cppeditdata/map/envelop/map_envelops.cppTaskfile.yml428687dfb7b596f3f36a84df1de6d7068279a55d1789532191000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: 添加快照内存修复的分布式编译任务允许显式指定与当前编译器匹配的 icecc 工具链及并行槽位，统一构建生命周期测试、回放集成测试和 PlanFrame 兼容 SDK。 2026-09-16 12:16:31 +0800428687dfb7b596f3f36a84df1de6d7068279a55dbuild: 添加快照内存修复的分布式编译任务editTaskfile.ymldata/config/cfg_region.cpp543d6b7225856f87fd96ba74103edca04777d4ce1789545614000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 扩大津西区域识别范围以覆盖当前地图保留原区域中心，将半径由 3000 m 调整为 5100 m，覆盖当前地图最远角点并预留边界余量，避免地图内任务无法识别为津西场景。 2026-09-16 16:00:14 +0800543d6b7225856f87fd96ba74103edca04777d4cefix: 扩大津西区域识别范围以覆盖当前地图editdata/config/cfg_region.cppdata/other/reverse_pickup.cppdocs/reverse_pickup_search.mdTesting/reverse_pickup_lifecycle_test.cppd373a30e14dc6b33299c4d02b740ecfaa06afd481789545697000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 支持无一次规划的倒车接货任务进入散货场景无路由任务使用车头后轴到 a 点的实际距离与停稳状态判断入场，不再依赖无效的路由终点距离。有路由任务保留原有门控。补充任务 46809 坐标及边界、无效状态回归；64 项任务回归通过。 2026-09-16 16:01:37 +0800d373a30e14dc6b33299c4d02b740ecfaa06afd48fix: 支持无一次规划的倒车接货任务进入散货场景editdata/other/reverse_pickup.cppeditTesting/reverse_pickup_lifecycle_test.cppeditdocs/reverse_pickup_search.mdssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/ssep_planner_test.ccdocs/reverse_pickup_search.mdssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc2073156e538df55510cff697edb0ddb7920bef451789545814000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 减少双向搜索启发计算和 RS 候选分配提前过滤已被支配的节点，减少重复启发计算；使用固定数组保存最短 RS 候选，保持候选顺序和搜索代价语义。补充支配节点过滤回归测试。 2026-09-16 16:03:34 +08002073156e538df55510cff697edb0ddb7920bef45perf: 减少双向搜索启发计算和 RS 候选分配editdocs/reverse_pickup_search.mdeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.cceditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.heditssep/test/ssep_planner_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/test/local_regression/README.mdssep/test/local_regression/tt_ordered_via_manifest.tsvssep/keb_optimizer/keb_problem.ccssep/test/ssep_planner_test.ccssep/test/local_regression/tt_ordered_via_cases.jsonssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/data_structures/search_guide_match.hssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hdocs/reverse_pickup_search.mdssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.h11bc0c0a24736bcc26c206a3e74fdfdd76fb81bf1789545843000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 改善有序倒车搜索的引导匹配和起始控制约束允许沿引导线执行端点有限延长匹配，保留横向门限并优先匹配附近记录路径。仅释放输入缺失且初值超限的首曲率，保持实测姿态和已知控制量。调整优化预算并补充引导匹配、控制边界及现场回归用例。 2026-09-16 16:04:03 +080011bc0c0a24736bcc26c206a3e74fdfdd76fb81bffix: 改善有序倒车搜索的引导匹配和起始控制约束editssep/test/local_regression/tt_ordered_via_manifest.tsveditdocs/reverse_pickup_search.mdeditssep/test/local_regression/README.mdeditssep/data_structures/search_guide_match.heditssep/test/ssep_planner_test.cceditssep/test/local_regression/tt_ordered_via_cases.jsoneditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem.heditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/data_structures/path.ccdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cppssep/test/local_regression/README.mddata/plan/ssep_data.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/scenario_planner_factory.hssep/test/local_regression/tt_multi_short_tail_manifest.tsvtasks/deciders/search_decider/forward_search_decider.cppssep/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.htasks/deciders/other_decider/replan_decider.cppssep/test/local_regression/tt_multi_ratio_manifest.tsvssep/data_structures/search_guide_match.hssep/scenarios/stitching_replanner.hssep/ssep_planner.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/ssep_ec.cppssep/test/local_regression/tt_multi_collision_manifest.tsvssep/scenarios/tractor_trailer_single_segment_parking_planner.h72a81e9cd47956e18d6e1757524379f47dbbc7451789545858000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持多段停车历史重规划并完善路径验收换向和普通人工重规划保留同任务未执行的历史路径，先尝试历史初值，失败后使用软引导搜索并回退无引导搜索；强制拉直仍不使用历史路径。统一停车优化的倒车曲率比例，修复短末端采样，并增加整车及扫掠碰撞验收。裁剪后验收失败时尝试通过验收的原始路径，补充生命周期、引导和现场回归用例。 2026-09-16 16:04:18 +080072a81e9cd47956e18d6e1757524379f47dbbc745feat: 支持多段停车历史重规划并完善路径验收editssep/scenarios/tractor_trailer_single_segment_parking_planner.haddssep/test/local_regression/tt_multi_short_tail_manifest.tsveditssep/data_structures/path.cceditssep/data_structures/search_guide_match.heditssep/test/local_regression/README.mdeditdata/plan/ssep_data.hppeditdata/plan/ssep_data.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccedittasks/deciders/search_decider/forward_search_decider.cppeditdata/ssep/ssep_ec.cppeditssep/test/ssep_planner_test.ccedittasks/deciders/other_decider/replan_decider.cppeditssep/scenarios/scenario_planner_factory.haddssep/test/local_regression/tt_multi_collision_manifest.tsveditssep/scenarios/stitching_replanner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.haddssep/test/local_regression/tt_multi_ratio_manifest.tsveditssep/ssep_planner.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/ssep_path_corridor_test.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/out_yard_junction_ec.cppb6df521ba88bd09ef1af16e5addec34c81a40d881789549249000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复静止出堆场搜索起点落在车后当停止线回退起点不在当前车位前方时，复用实车位姿和轮角构造搜索起点，并记录起点切换日志。避免车辆越过预设起点后重新下发任务仍从车后搜索。验证：pnc_node 编译及构建附带检查通过，git diff --check 通过。 2026-09-16 17:00:49 +0800b6df521ba88bd09ef1af16e5addec34c81a40d88fix: 修复静止出堆场搜索起点落在车后editdata/ssep/out_yard_junction_ec.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppdocs/ssep_search_lifecycle.mdae161134773778488865f4ecc68570717a426bee1789559354000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按目标路口触发连续入场重搜在入场弯前复用搜索环境的停止线筛选规则，比较目标路口与历史 REUSE 搜索路口，避免经过多车道或冷却后漏搜。同路口、已有请求、旧搜索未完成或输入不完整时不新建请求，保留原路径及即时重搜语义。补充左右 S 弯、目标筛选、冷却恢复、重复抑制和缺失输入回归。验证：pnc_node 编译成功；完整回归 344 项通过、45 项跳过，无失败（包含出场接管修复）。 2026-09-16 19:49:14 +0800ae161134773778488865f4ecc68570717a426beefix: 按目标路口触发连续入场重搜editTesting/continuous_junction_replan_test.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppeditdocs/ssep_search_lifecycle.mddata/scenario/scenario_manager.cppTesting/scenario_search_exit_test.cppdocs/ssep_search_lifecycle.md0c15dfca196f310fe06d3f4c1b87c511378a6ff41789559365000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐出堆场 S 弯和 U 弯区域识别将出场 S 弯、U 弯的左右方向及弯前和弯中纳入区域判断，使入场等搜索场景按准入条件正常让出。补充出场区域保持、切换到下一入场区域、禁搜及旧路径收尾回归，并记录接管规则。验证：pnc_node 编译成功；完整回归 344 项通过、45 项跳过，无失败。 2026-09-16 19:49:25 +08000c15dfca196f310fe06d3f4c1b87c511378a6ff4fix: 补齐出堆场 S 弯和 U 弯区域识别editdata/scenario/scenario_manager.cppeditdocs/ssep_search_lifecycle.mdeditTesting/scenario_search_exit_test.cppTesting/wbca_smooth_continuity_test.cppalgorithm/wbca/wbca_manager.cppdocs/wbca_history_geometry.mdalgorithm/wbca/wbca_manager.hppb3e4653f9d9c898b6ccf178e4fdea6386fa97c011789698276000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(wbca): replace divergent history beyond direct-link prefix 2026-09-18 10:24:36 +0800b3e4653f9d9c898b6ccf178e4fdea6386fa97c01fix(wbca): replace divergent history beyond direct-link prefixeditTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.hppadddocs/wbca_history_geometry.mdeditalgorithm/wbca/wbca_manager.cppCMakeLists.txtTesting/CMakeLists.txttools/pnc_proto_mapper/test_build_boundaries.py202aa8a21799c5bff20a40ef9dbb0f77d0a8a2ed1789723104000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 将测试构建配置集中到 Testing 目录将测试目标和 GTest 依赖迁入 Testing/CMakeLists.txt，顶层保留测试开关和子目录入口。保持测试名称、输出路径及 CTest 工作目录，同步适配构建边界检查。验证：构建边界检查通过，原有测试定义归一化比对一致，回放基础测试通过。 2026-09-18 17:18:24 +0800202aa8a21799c5bff20a40ef9dbb0f77d0a8a2edrefactor: 将测试构建配置集中到 Testing 目录editCMakeLists.txtaddTesting/CMakeLists.txtedittools/pnc_proto_mapper/test_build_boundaries.pyreplayer/scene_data/generated/compact_scene_descriptor.pbproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/plan/guide_line.cppdocs/bend_speed_up_junction_config.mdreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_func_sw.hppreplayer/scene_data/generated/plan_frame_decoder.hppdata/config/cfg_func_sw.cppreplayer/scene_data/generated/compact_typed_field_codec.hppreplayer/scene_data/generated/config_schema_inputs.jsonTesting/guide_line_speed_limit_test.cppTesting/scene_replay_foundation_test.cppdata/plan/guide_line.hppreplayer/scene_data/generated/plan_frame_encoder.cppTesting/CMakeLists.txtreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbreplayer/scene_data/generated/plan_frame_encoder.hpp4900b070373d7be5654cead2ca94773e2ee4a4461789723123000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持按路口 ID 禁用弯道前后提速新增 disable_bend_speed_up_junction_ids 配置，命中路口沿用地图限速，空名单保持现有行为。补齐 Full、Compact 和 Candidate 配置读写及兼容合同生成物，并添加配置说明。新增限速专项测试，覆盖精确匹配、全局开关、短弯和反复更新恢复；补充回放与旧消息测试。验证：通过 -j68 分布式构建；6 个限速用例通过；回放测试 259 个通过、2 个可选数据用例跳过；生成物及 Proto 兼容性检查通过。 2026-09-18 17:18:43 +08004900b070373d7be5654cead2ca94773e2ee4a446feat: 支持按路口 ID 禁用弯道前后提速editreplayer/scene_data/generated/plan_frame_decoder.hppadddocs/bend_speed_up_junction_config.mdeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/generated/compact_typed_field_codec.hppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/CMakeLists.txteditdata/plan/guide_line.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.hppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditdata/plan/guide_line.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/config/cfg_func_sw.cppaddTesting/guide_line_speed_limit_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/config_schema_inputs.jsoneditTesting/scene_replay_foundation_test.cppeditproto/config.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/map/reference/center_line.cpp0e2488992f0efd846cc82d2ff9c40763e2d33bf11789741701000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix：解决西联Z型途经点导致的提前变道问题 2026-09-18 22:28:21 +08000e2488992f0efd846cc82d2ff9c40763e2d33bf1fix：解决西联Z型途经点导致的提前变道问题editdata/map/reference/center_line.cppreplayer/scene_data/compact_geometry_codec.cppTesting/compact_path_projection_test.cppreplayer/replayer_data_process/replayer_data_process.cpphmi/draw/draw_collision_detection.cppTesting/CMakeLists.txtTesting/hmi_collision_render_test.cppdata/map/pnc_map/pnc_map.cppc631484f4581fff526a32cfe7de6177d5444b2001789742808000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 bulk 快照引导线重建和碰撞框绘制限制弯道横向支路长度，并兼容旧快照记录的超长支路。中心线重建失败时沿用在线无效状态处理，继续构建引导线。恢复世界坐标路径的投影缓存，补充碰撞轮廓索引检查，避免快照绘制异常中断刷新。增加路径投影、包络显示及现场快照回归测试。 2026-09-18 22:46:48 +0800c631484f4581fff526a32cfe7de6177d5444b200fix: 修复 bulk 快照引导线重建和碰撞框绘制addTesting/compact_path_projection_test.cppaddTesting/hmi_collision_render_test.cppedithmi/draw/draw_collision_detection.cppeditreplayer/scene_data/compact_geometry_codec.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/map/pnc_map/pnc_map.cppeditTesting/CMakeLists.txtCMakeLists.txt.vscode/launch.json399b4e4ce4af1d1e9894fb29cf9d0c77081cdefb1789742819000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: 为优化构建保留调试符号并配置 LLDB 查找路径在 Release 和 RelWithDebInfo 构建中启用调试信息，Clang 使用分离调试符号。为 VS Code 调试入口配置 build 目录搜索路径。 2026-09-18 22:46:59 +0800399b4e4ce4af1d1e9894fb29cf9d0c77081cdefbbuild: 为优化构建保留调试符号并配置 LLDB 查找路径edit.vscode/launch.jsoneditCMakeLists.txtCMakeLists.txtd9bd27bd5353cad1c8e06248135cd4845f656dcf1789746072000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix(build): 恢复 Release 现场发布的编译配置 Release 保持默认构建类型，不再自动附加调试符号及分离调试信息。调试参数仅对 Debug 和 RelWithDebInfo 生效。 2026-09-18 23:41:12 +0800d9bd27bd5353cad1c8e06248135cd4845f656dcffix(build): 恢复 Release 现场发布的编译配置editCMakeLists.txtgitfrontend/src/components/SelectToolRouter.vuebackend/routes/rt_router.jsfrontend/src/view/localization-initialization.vuefrontend/public/maps/ground_xy.meta.jsonfrontend/src/data/localization_initialization.jsfrontend/src/data/store.jsfrontend/src/router/index.jsfrontend/src/components/PageHeader.vuefrontend/public/maps/ground_xy.bin78a94629b7ee6e93d96b3e88b597304b92b3e44d1789896984000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofeat: 新增车辆位姿初始化功能新增定位初始化页面，支持快照接收与冻结、地图显示、位姿调整及参数预览与导出。新增 MQTT 初始化接口，使用前端所选完整车辆 ID，间隔 1 秒连续下发 3 次初始位姿，并保留发布与异常日志。 (cherry picked from commit 8c782d513a3c274158ce0c4c5781dca6e2b51d07) (cherry picked from commit 47ee56c4877f06de190c0a9b7e52f746dab0b372) 2026-09-20 09:36:24 +000078a94629b7ee6e93d96b3e88b597304b92b3e44dfeat: 新增车辆位姿初始化功能editfrontend/src/router/index.jsaddfrontend/src/data/localization_initialization.jseditbackend/routes/rt_router.jseditfrontend/src/components/PageHeader.vueeditfrontend/src/components/SelectToolRouter.vueaddfrontend/public/maps/ground_xy.binaddfrontend/src/view/localization-initialization.vueeditfrontend/src/data/store.jsaddfrontend/public/maps/ground_xy.meta.jsongithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtao276http://159.27.114.184:8080/jenkins/view/all/job/telediagnostic/276/274http://159.27.114.184:8080/jenkins/view/all/job/telediagnostic/274/