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剩余路径停车的问题usersoperatenoStarted by user 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#51345134false51341301616FAILURE1789478410053http://159.27.114.184:8080/jenkins/job/orin-module-slave32/5134/- replayer/replayer_data_process/load_snap_data.cppTesting/load_snap_data_compat_test.cpp638ea1300b20d655b3437e6444715cda33cba3461789452631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复远望 Compact 快照 ZIP 加载失败
ZIP 入口优先使用 Compact 解码器，保留旧版 Boost/zlib 快照兼容。兼容有无填充的 Base64，校验 JSON 和编码格式，失败时清空已加载帧并记录帧序号及原因。
新增新旧格式 ZIP、序号间断、损坏数据及缺少锚点等回归用例。replayer 编译通过，9 项兼容性测试通过，T809 现场 ZIP 的 113 帧全部加载成功。
2026-09-15 14:10:31 +0800638ea1300b20d655b3437e6444715cda33cba346fix: 修复远望 Compact 快照 ZIP 加载失败editTesting/load_snap_data_compat_test.cppeditreplayer/replayer_data_process/load_snap_data.cpp
- tasks/deciders/search_decider/open_space_search_decider.cppc2d41c5955603b7b0fe01cb0b35576df1b0ea0bc1789465276000http://159.27.114.184:8080/jenkins/user/jiayifeijiayifeijiayifei@senior.autofix：修复局部地图重建时导致的搜索失败次数误累计
2026-09-15 17:41:16 +0800c2d41c5955603b7b0fe01cb0b35576df1b0ea0bcfix：修复局部地图重建时导致的搜索失败次数误累计edittasks/deciders/search_decider/open_space_search_decider.cpp
- CMakeLists.txtssep/CMakeLists.txt11ca02a8b8ff42c8e53f9f3d3f9df0cdc325868d1789470055000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 Abseil 对象库编译依赖
通过导入目标向 PNC、回放及 SSEP 对象库传递 Abseil 头文件和编译要求，避免安装更新后头文件与链接库版本不一致。
验证：使用分布式编译成功构建 pnc_node 和 pnc_replayer。
2026-09-15 19:00:55 +080011ca02a8b8ff42c8e53f9f3d3f9df0cdc325868dfix: 统一 Abseil 对象库编译依赖editCMakeLists.txteditssep/CMakeLists.txt
- ssep/test/search_guide_loader_test.cctasks/plan/reversing_truck_path_task.cppssep/param_loader/search_guide_loader.ccssep/data_structures/ssep_input.cctasks/plan/ssep_task.cppCMakeLists.txtssep/param_loader/search_guide_loader.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccdata/vehicle/vehicle_destination.cppssep/data_structures/search_via_point.hssep/offboard/servers/scene_vis_html_template.ccdata/ssep/ssep_ec.cppreplayer/scene_data/generated/plan_frame_encoder.hppTesting/ssep_path_corridor_test.cppssep/protos/params.protoreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/compact_numeric_policy.yamlssep/protos/scene.protossep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdreplayer/scene_data/plan_frame_persistence_policy.yamlssep/keb_optimizer/keb_problem.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.hhmi/draw/draw_map.cppssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.hreplayer/scene_data/compact_proto_codec.cppssep/test/CMakeLists.txtdata/other/flow_control.cppdata/plan/ssep_data.hppssep/offboard/ssep_planner_wrapper.ccreplayer/scene_data/generated/plan_frame_decoder.cpptasks/deciders/search_decider/forward_search_decider.cppTesting/cfg_scenarios_proto_codec_test.cppreplayer/algorithm_replay/generated/scenario_task_chains.jsondocs/reverse_pickup_search.mdscenarios/bulkload_scenario/bulkload_move_forward_stage.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/common/utils/scene_frame_visualization.ccdata/app/reaction/app_reaction.cppssep/offboard/scene_replay/replay_scene_frame_cli.ccdata/config/cfg_ssep.hppssep/offboard/generate_scene_data/transform_to_body_frame_cli.ccreplayer/scene_data/config_proto_codec.hppdata/plan/path_direction_data.cppssep/maps/ogm_builder.hssep/data_structures/ssep_input.hppssep/test/scene_replay_obstacle_inputs_test.ccdata/ssep/forward_ec.hppreplayer/scene_data/generated/plan_frame_descriptor.pbdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/plan/ssep_data.cppssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.hreplayer/scene_replay/scene_replay_service.cppTesting/path_pair_validation_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/search_decider/forward_search_decider.hppssep/param_loader/param.hreplayer/scene_data/generated/plan_frame_decoder.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppTesting/routing_transition_test.cppreplayer/scene_data/generated/compact_typed_field_codec.hppconfig/config_truck/ssep_port_scenarios_jinxi.yamlreplayer/scene_data/compact_custom_field_proto_codec.cppconfig/config_truck/scenario.yamlssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.hdata/other/reverse_pickup.cppdata/ssep/ssep_activation.cppdata/plan/path_data.cppTesting/reverse_pickup_stage_selector_test.cppproto/pnc_scene/compact_replay_input.protodata/config/cfg_ssep.cppdata/ssep/forward_ec.cppreplayer/scene_data/config_proto_codec.cppdata/config/cfg_stage.cppssep/ssep_planner.hssep/CMakeLists.txtssep/data_structures/search_guide_match.hssep/data_structures/search_guide.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccplan/pilot/pilot_update.cppproto/plan_data.protossep/coarse_search/motion_primitive_sampler/reeds_shepp_path.cctasks/plan/ssep_task.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppTesting/reverse_pickup_lifecycle_test.cppTesting/search_decider_lifecycle_test.cppdata/app/fsm/task_fsm/task_fsm.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.hTesting/scene_replay_foundation_test.cppdata/other/reverse_pickup.hppdata/app/fsm/task_command_type.hppdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/compact_custom_field_proto_codec.hppssep/scenarios/ordered_search_via_validation.hdata/app/fsm/task_command_type.cpptasks/deciders/search_decider/search_decider_lifecycle.hppproto/config.protoreplayer/scene_data/generated/compact_typed_field_codec.cppssep/scenarios/scenario_planner_factory.hdata/config/cfg_stage.hppssep/test/ssep_planner_test.ccconfig/config_truck/ssep_search_guides.yamltools/pnc_proto_mapper/generator.pyreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbssep/offboard/main_test/main_ssep_input.ccTesting/ssep_scenario_config_lifecycle_test.cppfa8231b1b6c9d51a1d5a9fce5b2a12231bf19aef1789470055000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持倒车接货顺序途经搜索与姿态约束
复用 ForwardEC 和 Bulk Stage，在任务终点停车后启动分段搜索，维护顺序途经点进度并支持换向及手动重搜索；保留 PARK_LOCK 的有效路径和引导线。
加入 YAML 搜索引导线、途经点可视化、车头及挂车姿态约束和 KEB 最终验收，优化首段预算与起始姿态适应能力。修复车挂路径配对失效、普通搜索结果发布及精确障碍物回放，补齐 Full/Compact 合同与配套测试。
验证：分布式构建 pnc_node、pnc_replayer 通过；任务与搜索生命周期测试通过；SSEP 搜索测试及现场场景回归通过。
2026-09-15 19:00:55 +0800fa8231b1b6c9d51a1d5a9fce5b2a12231bf19aeffeat: 支持倒车接货顺序途经搜索与姿态约束editdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/scene_data/compact_proto_codec.cppaddssep/param_loader/search_guide_loader.ccaddssep/test/scene_replay_obstacle_inputs_test.cceditreplayer/scene_data/compact_numeric_policy.yamleditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.cceditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppeditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.ccaddTesting/path_pair_validation_test.cppaddssep/scenarios/ordered_search_via_validation.heditreplayer/scene_data/plan_frame_persistence_policy.yamladddata/other/reverse_pickup.cppaddssep/data_structures/search_guide_match.heditdata/plan/path_data.cppeditplan/pilot/pilot_update.cppeditdata/config/cfg_ssep.hppeditssep/scenarios/scenario_planner_factory.heditTesting/routing_transition_test.cppedithmi/draw/draw_map.cppaddssep/data_structures/search_via_point.heditdata/app/fsm/task_command_type.hppeditssep/data_structures/ssep_input.cceditreplayer/scene_data/full_proto_custom_encoder.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.heditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/protos/params.protoaddTesting/reverse_pickup_lifecycle_test.cppeditdata/config/cfg_stage.cppaddTesting/reverse_pickup_stage_selector_test.cppeditssep/offboard/generate_scene_data/transform_to_body_frame_cli.cceditssep/test/ssep_planner_test.cceditreplayer/scene_data/cfg_scenarios_proto_codec.cppaddssep/param_loader/search_guide_loader.heditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.hppedittasks/deciders/search_decider/search_decider_lifecycle.hppeditssep/ssep_planner.heditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/search_decider/forward_search_decider.cppeditdata/other/flow_control.cppeditreplayer/scene_replay/scene_replay_service.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonaddconfig/config_truck/ssep_search_guides.yamleditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditTesting/search_decider_lifecycle_test.cppeditdata/ssep/ssep_activation.cppeditdata/plan/ssep_data.hppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditssep/test/CMakeLists.txteditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.cppeditssep/keb_optimizer/keb_problem.cceditdata/config/cfg_ssep.cppeditssep/param_loader/param.hedittasks/plan/reversing_truck_path_task.cppeditdata/plan/path_direction_data.cppeditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddssep/test/search_guide_loader_test.cceditreplayer/scene_data/config_proto_codec.hppedittasks/plan/ssep_task.cppaddssep/data_structures/search_guide.heditproto/plan_data.protoedittasks/deciders/search_decider/forward_search_decider.hppeditdata/app/fsm/task_fsm/task_fsm.cppedittasks/plan/ssep_task.hppadddata/other/reverse_pickup.hppeditssep/maps/ogm_builder.heditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/plan/ssep_data.cppeditreplayer/scene_data/plan_frame_field_roles.csveditproto/config.protoeditreplayer/scene_data/generated/plan_frame_encoder.cppeditconfig/config_truck/scenario.yamleditdata/config/cfg_stage.hppeditdata/app/reaction/app_reaction.cppeditssep/offboard/ssep_planner_wrapper.cceditreplayer/scene_data/compact_custom_field_proto_codec.hppeditreplayer/scene_data/generated/compact_typed_field_codec.hppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/config_proto_codec.cppeditssep/common/utils/scene_frame_visualization.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditdata/ssep/forward_ec.hppeditssep/offboard/main_test/main_ssep_input.cceditssep/protos/scene.protoeditproto/pnc_scene/compact_plan_frame_fields.protoeditTesting/ssep_path_corridor_test.cppeditreplayer/algorithm_replay/generated/scenario_task_chains.jsoneditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_decoder.cppeditdata/vehicle/vehicle_destination.cppeditssep/offboard/servers/scene_vis_html_template.cceditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditproto/pnc_scene/compact_replay_input.protoedittools/pnc_proto_mapper/generator.pyeditssep/data_structures/ssep_input.hppeditreplayer/scene_data/generated/plan_frame_decoder.hppeditTesting/cfg_scenarios_proto_codec_test.cppeditssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.hadddocs/reverse_pickup_search.mdeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditdata/app/fsm/task_command_type.cppeditssep/CMakeLists.txteditssep/ssep_planner.cceditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditCMakeLists.txt
- ssep/test/local_regression/parking_collision_quality.pyssep/test/local_regression/tt_ordered_pose_results.jsonssep/test/local_regression/README.mdssep/test/local_regression/tt_parking_quality.pyTaskfile.ymlssep/test/local_regression/tt_ordered_via_manifest.tsvssep/offboard/scene_replay/CMakeLists.txtssep/test/local_regression/tt_ordered_via_quality.jsonssep/test/local_regression/tt_ordered_via_cases.jsonssep/test/local_regression/test_parking_collision_quality.pyssep/test/local_regression/tt_ordered_pose_cases.jsonssep/test/local_regression/test_tt_parking_regression.pyssep/test/local_regression/test_pose_regression.pyssep/test/local_regression/generate_pose_regression.pyssep/test/local_regression/tt_ordered_pose_manifest.tsv8efd7a6dfd64463a69c7007abf34f08b8432ef7b1789470055000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 SSEP 现场场景和起始姿态扰动回归
归档近期顺序途经搜索案例清单、输入校验信息及质量结果，增加位置、车头角和挂车角扰动生成器，校验途经顺序与精确障碍物碰撞。回放构建支持显式 Release 配置并补充 task 入口。
验证：6 个现场案例与 11 个姿态扰动案例通过，Python 回归测试 58 项通过。
2026-09-15 19:00:55 +08008efd7a6dfd64463a69c7007abf34f08b8432ef7btest: 增加 SSEP 现场场景和起始姿态扰动回归editssep/test/local_regression/README.mdaddssep/test/local_regression/tt_ordered_via_manifest.tsvaddssep/test/local_regression/tt_ordered_pose_cases.jsoneditTaskfile.ymleditssep/test/local_regression/test_parking_collision_quality.pyaddssep/test/local_regression/test_pose_regression.pyeditssep/test/local_regression/parking_collision_quality.pyaddssep/test/local_regression/tt_ordered_pose_results.jsonaddssep/test/local_regression/tt_ordered_pose_manifest.tsvaddssep/test/local_regression/tt_ordered_via_quality.jsoneditssep/offboard/scene_replay/CMakeLists.txteditssep/test/local_regression/tt_parking_quality.pyaddssep/test/local_regression/generate_pose_regression.pyaddssep/test/local_regression/tt_ordered_via_cases.jsoneditssep/test/local_regression/test_tt_parking_regression.py
- data/ssep/out_yard_junction_ec.hpptasks/deciders/search_decider/seaside_junction_search_decider.hppdata/ssep/seaside_junction_ec.hppdata/ssep/ex_lane_change_ec.cppdata/ssep/out_yard_junction_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/search_decider/seaside_junction_search_decider.cpptasks/deciders/search_decider/forward_search_decider.hpptasks/deciders/search_decider/forward_search_decider.cppdata/ssep/seaside_junction_ec.cpptasks/deciders/search_decider/open_space_search_decider.hppdata/ssep/open_space_ec.cppTesting/search_decider_lifecycle_test.cpptasks/deciders/search_decider/bridge_junction_search_decider.hppdata/ssep/open_space_ec.hpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.hpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/search_decider/search_decider_lifecycle.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cpptasks/deciders/search_decider/search_decider_lifecycle.hppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cppTesting/reference_line_replan_test.cpptasks/deciders/search_decider/reverse_search_decider.hppdata/ssep/normal_junction_ec.hppdata/ssep/bridge_junction_ec.hpptasks/deciders/search_decider/out_yard_junction_search_decider.hppdocs/ssep_search_lifecycle.mddata/ssep/into_yard_junction_ec.hpptasks/deciders/search_decider/normal_junction_search_decider.hpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/ex_lane_change_ec.hppdata/ssep/forward_ec.hppdata/ssep/reverse_ec.hppad252560237ce635cae82a55310beda37d002dd71789478123000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 区分搜索输入等待与环境构造失败
九类搜索在输入不可用时等待，构造失败清理半成品并继续重试，保留等停请求及搜索回退进度；仅实际搜索失败耗尽回退后进入 UNUSE。
补齐 Forward 在 IDLE 收到人工重搜时的策略准备，避免沿用旧拉直状态，并限制同一请求只重置一次。
更新生命周期文档、生成指纹及输入恢复、计数饱和和终态回归测试。
2026-09-15 21:15:23 +0800ad252560237ce635cae82a55310beda37d002dd7fix: 区分搜索输入等待与环境构造失败edittasks/deciders/search_decider/search_decider_lifecycle.cppeditTesting/reference_line_replan_test.cppeditdata/ssep/ex_lane_change_ec.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/reverse_ec.hppedittasks/deciders/search_decider/into_yard_junction_search_decider.hppeditdata/ssep/bridge_junction_ec.cppedittasks/deciders/search_decider/reverse_search_decider.hppedittasks/deciders/search_decider/ex_lane_change_search_decider.hppedittasks/deciders/search_decider/reverse_search_decider.cppeditdata/ssep/bridge_junction_ec.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/ssep/out_yard_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/seaside_junction_ec.hppedittasks/deciders/search_decider/open_space_search_decider.hppedittasks/deciders/search_decider/forward_search_decider.hppeditTesting/search_decider_lifecycle_test.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/ssep/open_space_ec.hppeditdata/ssep/ex_lane_change_ec.hppedittasks/deciders/search_decider/bridge_junction_search_decider.hppeditdata/ssep/seaside_junction_ec.cppeditdata/ssep/normal_junction_ec.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/deciders/search_decider/search_decider_lifecycle.hppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/normal_junction_search_decider.hppedittasks/deciders/search_decider/out_yard_junction_search_decider.hppeditdocs/ssep_search_lifecycle.mdeditdata/ssep/normal_junction_ec.hppeditdata/ssep/forward_ec.hppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/search_decider/seaside_junction_search_decider.hpp
- tasks/deciders/search_decider/search_decider_lifecycle.cppTesting/reverse_pickup_stage_selector_test.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cpptasks/deciders/search_decider/search_decider_lifecycle.hpptasks/deciders/search_decider/seaside_junction_search_decider.cpptasks/plan/ssep_task.hpptasks/plan/ssep_task.cpptasks/deciders/search_decider/forward_search_decider.cppdocs/ssep_search_lifecycle.mdTesting/search_decider_lifecycle_test.cppTesting/routing_transition_test.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/search_decider/bridge_junction_search_decider.cpp205596008a5ca6391020ebfe64226b05827da5a51789478161000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复任务切换后搜索状态卡在 FINISH
九类搜索使用与异步结果一致的有效任务 ID，在任务交接时失效旧构造器及发布快照，防止输入异常后恢复旧状态。
异步 future 提交当帧立即发布运行标志，避免下一帧新请求误过线程门禁后被丢弃。
补充跨任务结果回收、连续切换、异常输入恢复和提交帧运行状态回归，保留同任务重搜及倒车取货结果复用。
2026-09-15 21:16:01 +0800205596008a5ca6391020ebfe64226b05827da5a5fix: 修复任务切换后搜索状态卡在 FINISHeditTesting/routing_transition_test.cppedittasks/plan/ssep_task.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/seaside_junction_search_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/plan/ssep_task.hppedittasks/deciders/search_decider/search_decider_lifecycle.cppedittasks/deciders/search_decider/forward_search_decider.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppeditTesting/reverse_pickup_stage_selector_test.cppeditdocs/ssep_search_lifecycle.mdedittasks/deciders/search_decider/open_space_search_decider.cppeditTesting/search_decider_lifecycle_test.cppedittasks/deciders/search_decider/search_decider_lifecycle.hppedittasks/deciders/search_decider/reverse_search_decider.cpp
- Testing/ssep_path_corridor_test.cppscenarios/task_condition_evaluator.cpp03968a21f9e470b48d375582b47f7e7d0234fdab1789478187000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 选择堆场 KEB 前检查引导线覆盖路口终点
VV087 对位快照同地图重建中，引导线长 83.5 米，直行出场路口终点为 83.6313 米；原选择器选中 KEB 后因终点越界持续输入失败。
非明确进出场区域的几何接管共用完整终点构造检查，目标不可用时走后续配置规划器，保留明确进出场区域的输入异常保护。
增加终点等长及两侧边界测试，并验证 KEB、PJPO 和恢复 KEB 的选择过程。
2026-09-15 21:16:27 +080003968a21f9e470b48d375582b47f7e7d0234fdabfix: 选择堆场 KEB 前检查引导线覆盖路口终点editscenarios/task_condition_evaluator.cppeditTesting/ssep_path_corridor_test.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/jiayifeijiayifei5135http://159.27.114.184:8080/jenkins/job/orin-module-slave32/5135/5133http://159.27.114.184:8080/jenkins/job/orin-module-slave32/5133/