[Jenkins]Jenkins

Changes

Summary

  1. chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） (details)
  2. refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑 (details)
  3. feat: 添加碰撞但不停车的龙门吊禁停区域记录 (details)
  4. feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据 (details)
  5. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  6. chore: Keb-Diagnose: 关闭多初始解诊断 (details)
  7. fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 (details)
  8. feat: 适配云端障碍物类别的功能 (details)
  9. fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据 (details)
  10. fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 (details)
  11. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  12. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  13. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  14. feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 (details)
  15. chore: snapshot to keb scene 增加批量转换功能 (details)
  16. fix:修复进bulk场景中，有一帧场景器不运行的bug (details)
  17. fix: SSEP: ogm为空时退出搜索 (details)
  18. refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary (details)
  19. fix: cancel wbca task_id verification (details)
  20. feat: Keb: Add keb-foxglove visualization (details)
  21. feat: Keb: Add foxglove remote file server (details)
  22. fix: Keb: 修复keb-foxglove转换脚本 (details)
  23. feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） (details)
  24. chore: SSEP: 跨运车路径搜索时不考虑终点约束 (details)
  25. fix: 修复编译依赖关系未指定导致概率性编译失败的问题 (details)
  26. chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题 (details)
  27. refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 (details)
  28. refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 (details)
  29. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
  30. refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 (details)
  31. refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 (details)
Commit 85a5b9891b746c13236e27215b13a470491d83e9 by tangwenqing
chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性）

The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit dd6f2887eff14c5672e36024b0813714c5934550 by wuyanjun110
refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/obstacle/block.cpp
The file was modifieddata/obstacle/block.hpp
Commit ceaca35f06fdd7ca19c7d1c2f7904d164ae48bb6 by wuyanjun110
feat: 添加碰撞但不停车的龙门吊禁停区域记录

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/constrain/block_data.hpp
The file was modifieddata/constrain/block_data.cpp
Commit 07aee2a74e0684ef85d9b7056ba0a6e99e82a8cd by tangwenqing
feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedscripts/keb_diagnostic_vis.py
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modified.gitignore
The file was addedssep/keb_optimizer/keb_problem_diagnostic.cc
Commit 388add416c723ad59840b0b866aae8993959bf1a by tangwenqing
feat: Keb: 实现rosbag->keb scene的数据转换工具

The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/README.md
The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedCMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit c291f23eaf81a12b77b9dfc825f868bd5a3f4519 by tangwenqing
chore: Keb-Diagnose: 关闭多初始解诊断

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
Commit ff306a5a442fa8945cdce677a6c549f1c0695ef5 by wuyanjun110
fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑
The file was modifieddata/constrain/block_data.cpp
Commit b7412fd21a316b1ef3703cc93d759282d4540fe8 by wuyanjun110
feat: 适配云端障碍物类别的功能

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifieddata/vehicle/cloud_pnc_config.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifiedhmi/draw/draw_intersection.cpp
Commit 86de8210ee68e6329f32cc1a35868b69ed2a94b7 by wuyanjun110
fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据
The file was modifieddata/vehicle/lock_station_data.cpp
Commit 2b509a221cdd64b1c693b51a550bdfdec8bfa437 by wuyanjun110
fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 44f7b48f99c518652479d5e51bea85b3e35d6de8 by tangwenqing
chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。

The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit 70f22cdfbe6f4f6d176a40d97091accaf3f47740 by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit c5db948fe5fb7098173c070809482e128577b495 by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit 91fdc35083c9b02c48101419fd07aa48aa141b66 by tangwenqing
feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。

The file was addedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
The file was modifiedssep/protos/ssep_scenario_type.proto
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit b7fd0ea445d47529917a4cbfbe8dbc1007c7c789 by tangwenqing
chore: snapshot to keb scene 增加批量转换功能

The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit c536333cacc14cfa6409a6c3cbce88b8046073ef by wuyanjun110
fix:修复进bulk场景中，有一帧场景器不运行的bug
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
Commit 6fbef3aa974bd5ef568ccbc99974572aed2ebaad by tangwenqing
fix: SSEP: ogm为空时退出搜索

The file was modifieddata/ssep/ssep_activation.cpp
Commit f52484d31ef770116289c6501ba45ac3c0800d1a by wuyanjun110
refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
Commit 223d3a6d63e5dc946bb54f6ff62014329fdf54e3 by chenran
fix: cancel wbca task_id verification
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 61ad307f176a1e2ecec7b94d5a63764d73c65e24 by tangwenqing
feat: Keb: Add keb-foxglove visualization

The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto
The file was modified.gitignore
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.proto
The file was addedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was addedoffboard/keb_vis_server/foxglove/requirements.txt
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.proto
The file was addedoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.proto
Commit 3d0d0fca081f967e21bb815c2b190c89ac9284c9 by tangwenqing
feat: Keb: Add foxglove remote file server

The file was modifiedoffboard/keb_vis_server/foxglove/README.md
The file was addedoffboard/keb_vis_server/foxglove/serve_mcap.py
Commit 0f11ae0bab1008819526bd858df4337cf40a65e0 by tangwenqing
fix: Keb: 修复keb-foxglove转换脚本

The file was addedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedoffboard/keb_vis_server/foxglove/README.md
Commit 44c2b4b85df795417ffb726444c32293dbc1f123 by tangwenqing
feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
Commit 0c8a011f5420723cb66ac58914844eccfc48aeee by tangwenqing
chore: SSEP: 跨运车路径搜索时不考虑终点约束

The file was modifiedssep/ssep_planner.cc
Commit 9194eea41c71b4fbb0224dba9be07f7ce477d675 by tangwenqing
fix: 修复编译依赖关系未指定导致概率性编译失败的问题

The file was modifiedproto/CMakeLists.txt
Commit 1b925974d34136dcea854939e67007dde1243e2f by tangwenqing
chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题

The file was modifiedproto/keb_scene.proto
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedoffboard/keb_vis_server/foxglove/keb_to_mcap.py
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.cc
The file was modifiedssep/keb_optimizer/keb_problem_diagnostic.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedoffboard/keb_vis_server/foxglove/generate_protos.sh
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedssep/protos/diagnostic.proto
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedproto/CMakeLists.txt
The file was modifiedoffboard/keb_path_opt_cli/CMakeLists.txt
Commit 016c1c47dab8fedb1d3a7577ac83684b561c844e by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modified.gitignore
Commit 2cae818e72a83c101ee324a77186f5866a191365 by wuyanjun110
refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 4b38573f9ff8b061484c81feef8f75803377cfbf by tangwenqing
chore: SSEP: 集卡多段倒车接挂适配超窄库位

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit e58ed555388809334c87ab9fdc55fbef1dd89898 by wuyanjun110
refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑
The file was modifieddata/map/reference/reference_road_section.cpp
Commit f5b95a7b89d7da92fddc7d2ad89ae3877d53cce3 by wuyanjun110
refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理
The file was modifieddata/plan/center_line_info.cpp
The file was modifiedtasks/other_tasks/create_center_lines.cpp