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Changes

Summary

  1. fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留 (details)
  2. perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效 (details)
  3. fix: 远程单次直线步进END后不退出循环重回MOVE (details)
  4. fix: park子状态机收普通任务卡死PARK_MOVE无法退出 (details)
Commit cf9bf06e62975a44420683b8d68b1a1c38d24ebb by wuyanjun110
fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留

- CreateUnionRegion恢复std::async异步, polygons改move捕获少一份拷贝
- latch结果消费一次即move取走并shrink_to_fit释放, 不再常驻AsyncUnionRegionState
- 重建路径不再预清union_region_/重建async_state, 异步未就绪时沿用上一帧轮廓
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 49da4fba25e8910c876f430f1f1b28a8e67e0f63 by wuyanjun110
perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效
The file was modifiedreplayer/logic.cpp
Commit 72009854a7c4ddb6758552e58d1be9e0ca3e37d2 by wuyanjun110
fix: 远程单次直线步进END后不退出循环重回MOVE

UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经
ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface
的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END
边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,
finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经
RemoteInit 无条件重回 REMOTE_MOVE 直至超时.

prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖
fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
Commit a5afde418b758301551f63748ff5a58175d144cb by wuyanjun110
fix: park子状态机收普通任务卡死PARK_MOVE无法退出

bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,
Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下
Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,
只能靠再次取消任务解锁(实车卡死近4小时):
- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区
- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL

同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE
放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),
正常进位途中刷新停车任务不受影响

另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,
日志不再把正常事件误打成E_NO_STATE
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_command_type.cpp

Summary

  1. fix: imv控制器BRAKE加安全防护 (details)
  2. fix: add revesing car mpc (details)
  3. feat: 1.对准超调即完成增加距离防护；2.卸料步进控制优化 (details)
  4. feat: 卸料允许更大速度 (details)
  5. feat: 日志记录降采样 (details)
Commit eade25f3be396d3d68f64b63a731ff12caecfcfb by liuhongshuo
fix: imv控制器BRAKE加安全防护
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modified.gitignore
Commit 978cb7262f1750ac302eb410240c619f4716f805 by chenran
fix: add revesing car mpc
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
Commit 8177240200b310d734cf2c71a1eb97d9f7b54d40 by liuhongshuo
feat: 1.对准超调即完成增加距离防护；2.卸料步进控制优化
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit f531cee76d03955229a748c806edf3379099a280 by liuhongshuo
feat: 卸料允许更大速度
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit 1c3c7b68eab0f7dc093c3281dfebb2a960f0c96b by liuhongshuo
feat: 日志记录降采样
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp