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2026-10-10 16:39:05 +08006efb8024714d3063693e857288df97d676d9991bfeat: 低贝位ec建立防抖 && truck起步曲率强制为0取消 并适配pjpoeditdata/plan/start_point_data.cppeditTesting/ssep_scenario_config_lifecycle_test.cppedittasks/plan/pjpo_task.cppeditdata/ssep/into_yard_junction_ec.cpp
- ssep/keb_optimizer/cost_features/disk_collision_cost.htasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/rigid_truck_keb_optimizer.htasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/param_loader/param.hdata/ssep/ssep_scenario_config_loader.cppssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/configuration_fields.hdata/config/cfg_lat_plan.hppssep/keb_optimizer/recorded_profile.hssep/keb_optimizer/planning_profile.hdata/config/cfg_lat_plan.cppssep/scenarios/imv_enter_yard_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppdata/ssep/ssep_ec.hppssep/keb_optimizer/cost_features/physical_sides.hssep/keb_optimizer/segment_step_validation.hdata/ssep/ssep_ec.cppssep/keb_optimizer/keb_configuration.hssep/keb_optimizer/configuration_yaml.hssep/keb_optimizer/collision_cost_semantics.hssep/protos/params.protossep/keb_optimizer/collision_footprint.hdata/config/cfg_ssep.cppssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/common/utils/path_utils.ccssep/keb_optimizer/configuration_ros.htasks/plan/keb_utils.cppssep/common/utils/path_utils.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_utils.hppssep/keb_optimizer/imv_collision_model.hssep/common/utils/adaptive_collision_checker.hssep/scenarios/stitching_replanner.hssep/keb_optimizer/keb_problem.htasks/plan/keb_path_optimize_task.hppssep/ssep_planner.cctasks/plan/keb_lane_follow_path_task.hppssep/scenarios/tractor_trailer_single_segment_parking_planner.h01aa6249f258a338fb3c8dbda3685a7cde9a2bac1791627063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat(keb): apply planning profiles to online algorithms
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add offboard replay and HTML diagnostics
2026-10-10 18:12:17 +080076c7d56da4e2ac2c5e3e6725902c09f22b978d89feat(keb): add offboard replay and HTML diagnosticseditssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.heditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/coarse_search/bounded_priority_queue.haddssep/test/acceptance_browser_test.pyaddoffboard/keb_path_opt_cli/keb_cli_sources.cmakeeditssep/test/ssep_planner_test.ccaddoffboard/keb_path_opt_cli/restore_recorded_history.pyeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.haddssep/offboard/diagnostic/search_experience.jseditoffboard/bag_to_keb_scene/bag_reader.cceditoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyeditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/motion_primitive_sampler/rs_path_motion_primitive_sampler.ccaddssep/test/keb_physical_sides_test.cceditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/test/diagnostic_geometry_test.jseditssep/coarse_search/evaluator/trailer_collision_cost_computer.haddssep/offboard/diagnostic/trace.haddoffboard/keb_path_opt_cli/keb_run_options.hppeditssep/test/CMakeLists.txtaddoffboard/keb_path_opt_cli/keb_run_options.ccaddssep/offboard/diagnostic/optimization_collision.jsedit.gitignoreaddoffboard/keb_path_opt_cli/SINGLE_FRAME.mdeditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.haddssep/offboard/diagnostic/report_template.h.inaddssep/offboard/diagnostic/README.mdaddssep/offboard/diagnostic/optimization_clearance.jseditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.haddssep/test/keb_sum_collision_test.cceditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.ccedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppeditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.haddssep/offboard/diagnostic/optimization_help.jseditssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cceditssep/coarse_search/motion_primitive_sampler/rs_path_motion_primitive_sampler.heditssep/coarse_search/motion_primitive_sampler/straight_line_motion_primitive_sampler.haddssep/offboard/diagnostic/search_inspector.jseditssep/coarse_search/disk_collision_checker.heditoffboard/keb_path_opt_cli/keb_simulator.cceditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditssep/coarse_search/evaluator/composite_heuristic_computer.haddssep/common/offline_diagnostic.heditssep/scenarios/tractor_trailer_parking_collision.haddssep/offboard/diagnostic/optimization_profiles.jsaddssep/offboard/diagnostic/report.heditoffboard/bag_to_keb_scene/CMakeLists.txtaddssep/offboard/diagnostic/sampling.heditoffboard/bag_to_keb_scene/bag_to_keb_scene.ccedittools/pnc_proto_mapper/sync_state_schema.pyeditoffboard/keb_path_opt_cli/keb_scene_converter.ccaddssep/offboard/diagnostic/optimization.heditoffboard/keb_path_opt_cli/keb_scene_converter.hppeditproto/config.protoeditTesting/keb_gate_filter_test.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/diagnostic/optimization_viapoints.jseditssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.cceditTesting/ssep_path_corridor_test.cppaddssep/offboard/diagnostic/optimization_inspector.jsedittools/pnc_proto_mapper/sync_config_schema.pyaddssep/offboard/diagnostic/optimization_plotworkspace.jsaddssep/offboard/diagnostic/segment_step_validation.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.haddssep/offboard/diagnostic/kinematic_validation.haddssep/offboard/diagnostic/search_heuristic.jseditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/scene_frame_provider.cceditssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.haddssep/offboard/diagnostic/optimization_acceptance.jseditTesting/ssep_scenario_config_lifecycle_test.cppaddssep/offboard/diagnostic/parking_validation.heditreplayer/scene_data/config_proto_codec.cppeditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.haddoffboard/keb_path_opt_cli/keb_single_frame_cli.cceditssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.heditssep/coarse_search/indexed_priority_queue.haddssep/offboard/diagnostic/roadside_validation.heditssep/keb_optimizer/imv_keb_optimizer.cceditoffboard/keb_vis_server/foxglove/README.mdaddssep/offboard/diagnostic/optimization_multimeasure.jseditTesting/scene_replay_foundation_test.cppeditalgorithm/plan/keb_optimizer.cppeditssep/data_structures/ssep_input.ccaddssep/offboard/diagnostic/collision_geometry.heditssep/coarse_search/evaluator/ref_line_heuristic_computer.heditssep/offboard/scene_frame_provider.heditoffboard/bag_to_keb_scene/README.mdeditssep/coarse_search/motion_primitive_sampler/quintic_polynomial_motion_primitive_sampler.haddoffboard/keb_vis_server/foxglove/keb_single_frame_layout.jsonaddssep/offboard/diagnostic/optimization_overview.jsaddssep/offboard/diagnostic/collision_validation.heditssep/common/utils/path_utils.ccaddssep/offboard/diagnostic/optimization_identity.jseditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.heditssep/keb_optimizer/keb_problem.cceditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/motion_primitive_sampler/const_curvature_motion_primitive_sampler.haddssep/offboard/diagnostic/optimization_diagnostics.jseditssep/test/parking_collision_provenance_test.cceditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/common/utils/adaptive_collision_checker.heditTesting/keb_roadside_footprint_test.cppedittasks/plan/keb_utils_core.cppaddssep/offboard/diagnostic/ogm_snapshot.heditssep/offboard/servers/CMakeLists.txtaddssep/test/keb_softmin_collision_test.cceditoffboard/keb_path_opt_cli/closed_loop_utils.ccedittasks/plan/keb_utils_core.hppedittools/pnc_proto_mapper/audit_full_custom_codecs.pyaddssep/offboard/diagnostic/heuristic.heditssep/coarse_search/evaluator/kinematic_heuristic_computer.haddssep/offboard/diagnostic/optimizer_parameters.heditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccaddssep/offboard/diagnostic/report_template.htmladdssep/test/online_merge_retention_test.cceditoffboard/keb_path_opt_cli/README.mdeditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/coarse_search/disk_collision_checker.ccaddssep/keb_optimizer/planning_profile_yaml.heditssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/bag_to_keb_scene/bag_reader.hppeditREADME.mdeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.haddssep/keb_optimizer/PLANNING_PROFILES.mdaddssep/offboard/diagnostic/json.haddoffboard/keb_path_opt_cli/keb_file_identity.hppeditproto/keb_scene.protoaddssep/offboard/diagnostic/node_index.heditoffboard/keb_path_opt_cli/CMakeLists.txteditssep/coarse_search/evaluator/shortest_path_heur_table.haddssep/offboard/diagnostic/disk_probe.haddssep/offboard/diagnostic/optimization_workspace.jsaddssep/offboard/diagnostic/search_display.js
- tasks/plan/keb_lane_follow_path_task.cppdata/config/cfg_ssep.cpptasks/plan/keb_path_optimize_task.cppssep/common/utils/path_utils.ccssep/keb_optimizer/configuration_ros.hdata/ssep/into_yard_junction_ec.hppssep/scenarios/imv_enter_yard_planner.hdata/config/cfg_lat_plan.cpptasks/plan/keb_utils.hppdata/ssep/into_yard_junction_ec.cppssep/scenarios/stitching_replanner.hdata/ssep/ssep_ec.hppssep/ssep_planner.ccdata/ssep/ssep_ec.cpp9421de081c5bd359a197a67e03b846619e6a4d531791627153000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:去除不必要的trhow机制
2026-10-10 18:12:33 +08009421de081c5bd359a197a67e03b846619e6a4d53feat:去除不必要的trhow机制editdata/ssep/ssep_ec.cppeditssep/keb_optimizer/configuration_ros.heditssep/scenarios/stitching_replanner.hedittasks/plan/keb_path_optimize_task.cppeditssep/common/utils/path_utils.cceditssep/scenarios/imv_enter_yard_planner.heditdata/config/cfg_ssep.cppeditdata/ssep/into_yard_junction_ec.hppedittasks/plan/keb_lane_follow_path_task.cppeditssep/ssep_planner.cceditdata/config/cfg_lat_plan.cppeditdata/ssep/ssep_ec.hppedittasks/plan/keb_utils.hppeditdata/ssep/into_yard_junction_ec.cpp
- ssep/protos/params.protossep/keb_optimizer/planning_profile.hconfig/config_truck/ssep_port_scenarios_jinxi.yamlssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/imv_collision_model.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/configuration_fields.hconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/keb_optimizer/keb_problem.ccfec9b7ac2fc8c1245997638bc48d4443c5a5fabb1791627178000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: KEB对换向点运动放向增加额外包络圆
2026-10-10 18:12:58 +0800fec9b7ac2fc8c1245997638bc48d4443c5a5fabbfeat: KEB对换向点运动放向增加额外包络圆editssep/keb_optimizer/configuration_fields.heditssep/keb_optimizer/imv_collision_model.heditconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/protos/params.protoeditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem.heditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/planning_profile.heditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- ssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/test/keb_softmin_collision_test.ccssep/offboard/scene_replay/replay_scene_frame_cli.ccssep/offboard/diagnostic/optimizer_parameters.hssep/keb_optimizer/configuration_fields.hssep/scenarios/truck_general_planner.hssep/scenarios/straddle_carrier_general_planner.hssep/keb_optimizer/planning_profile.hssep/offboard/diagnostic/report_template.htmlssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hcb36399d4d50601abe76477dcdf4bebd772850721791627208000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 二次优化的planner配置对应的参数
2026-10-10 18:13:28 +0800cb36399d4d50601abe76477dcdf4bebd77285072feat: 二次优化的planner配置对应的参数editssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/keb_optimizer/configuration_fields.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/offboard/diagnostic/report_template.htmleditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/test/keb_softmin_collision_test.cceditssep/scenarios/straddle_carrier_general_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/planning_profile.heditssep/offboard/diagnostic/optimizer_parameters.h
- ssep/scenarios/truck_multi_seg_general_planner.hssep/test/keb_softmin_collision_test.ccssep/data_structures/ssep_input.ccssep/scenarios/imv_exit_parking_spot_planner.hssep/keb_optimizer/configuration_fields.hssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/parameters_proto_codec.hssep/keb_optimizer/planning_profile.hssep/scenarios/imv_enter_yard_planner.hdata/config/cfg_lat_plan.cppdata/ssep/ssep_ec.cppssep/keb_optimizer/keb_configuration.hssep/keb_optimizer/configuration_yaml.hreplayer/scene_data/generated/compact_scene_descriptor.pbtools/pnc_proto_mapper/sync_config_schema.pyssep/protos/params.protoproto/keb_scene.protossep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/recorded_stage_defaults.hssep/protos/scene.prototasks/plan/keb_utils.cppssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/scenario_optimizer_defaults.hdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdssep/keb_optimizer/keb_problem.hssep/scenarios/straddle_carrier_pick_vehicle_planner.hreplayer/scene_data/compact_proto_codec.cppoffboard/keb_path_opt_cli/keb_run_options.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/parameters.htasks/plan/keb_path_optimize_task.cppssep/scenarios/two_stage_planner_composer.hdata/config/cfg_lat_plan.hppssep/keb_optimizer/recorded_profile.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/keb_optimizer/planning_profile_yaml.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/PLANNING_PROFILES.mdreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/truck_fuzzy_reversing_planner.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/offboard/scene_replay/replay_scene_frame_cli.ccdata/config/cfg_ssep.hppssep/scenarios/straddle_carrier_general_planner.htasks/plan/keb_utils.hppssep/keb_optimizer/imv_collision_model.hssep/offboard/diagnostic/report_template.htmlssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hpptasks/plan/keb_path_optimize_task.hppTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pbssep/scenarios/truck_bulk_yark_in_out_planner.ccTesting/keb_parameters_config_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/truck_remote_guided_escape_planner.hssep/param_loader/param.hdata/ssep/ssep_scenario_config_loader.cppssep/offboard/diagnostic/optimizer_parameters.htools/pnc_proto_mapper/test_config_schema_presence.pyreplayer/scene_data/compact_custom_field_proto_codec.cppssep/scenarios/scenario_planner_interface.hTesting/keb_roadside_footprint_test.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/ssep_activation.cppproto/pnc_scene/compact_replay_input.protossep/scenarios/legacy_planner.hssep/test/diagnostic_geometry_test.jsreplayer/scene_data/config_proto_codec.cppreplayer/replayer_data_process/replayer_data_extraction.cppssep/ssep_planner.hREADME.mdssep/keb_optimizer/configuration_ros.hdata/ssep/into_yard_junction_ec.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccoffboard/keb_path_opt_cli/keb_single_frame_cli.ccssep/scenarios/imv_pullover_planner.htasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccproto/plan_data.protoreplayer/scene_data/full_custom_codec_exclusions.yamlssep/keb_optimizer/optimizer_parameters.hssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/scenarios/imv_general_planner.hreplayer/scene_data/generated/config_schema_inputs.jsonssep/scenarios/truck_u_turn_planner.hTesting/scene_replay_foundation_test.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/offboard/diagnostic/optimization_overview.jsssep/scenarios/imv_multi_segment_parking_planner.hreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppssep/scenarios/truck_multi_segment_parking_planner.hproto/config.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_lane_change_planner.hoffboard/keb_path_opt_cli/keb_run_options.hppreplayer/scene_data/plan_frame_field_roles.csvssep/keb_optimizer/optimizer_defaults.hreplayer/scene_data/generated/scene_replay_api_descriptor.pbtasks/plan/keb_lane_follow_path_task.hppTesting/ssep_scenario_config_lifecycle_test.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.hf32984cb6816801a1c2b492cdf6b8add76fd4ffd1791628330000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: Protobuf map普通序列化顺序不稳定导致快照校验失败的问题 keb配置参数方案重构
2026-10-10 18:32:10 +0800f32984cb6816801a1c2b492cdf6b8add76fd4ffdfix: Protobuf map普通序列化顺序不稳定导致快照校验失败的问题 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2026-10-10 18:32:22 +0800f90d048be708b49817d18ae3f31fa817d6d7d352feat: html分析工具增加路径几何editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditssep/offboard/diagnostic/trace.heditREADME.mdeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/CMakeLists.txtaddssep/offboard/diagnostic/planning_attempt.heditoffboard/keb_path_opt_cli/keb_single_frame_cli.ccaddssep/offboard/cli/analysis_options.heditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/offboard/diagnostic/README.mdaddssep/test/light_search_test.cceditdocs/reverse_pickup_search.mdeditssep/keb_optimizer/PLANNING_PROFILES.mdaddssep/test/analysis_options_test.ccaddssep/offboard/diagnostic/search_process.jseditssep/offboard/diagnostic/report.haddssep/test/analysis_completion_test.basheditssep/test/local_regression/run_ssep_regression.pyaddssep/test/search_process_test.jseditssep/offboard/diagnostic/optimization.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/test/CMakeLists.txtaddssep/offboard/diagnostic/light_search.heditoffboard/keb_path_opt_cli/SINGLE_FRAME.mdeditssep/test/local_regression/run_tt_single_parking_case.pyaddssep/offboard/cli/analysis_completion.bashaddssep/offboard/cli/README.mdeditssep/offboard/diagnostic/report_template.htmleditssep/offboard/scene_frame_provider.cceditssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.cceditssep/offboard/diagnostic/search_experience.js
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2026-10-13 10:20:41 +0800853fb8ef2ab112c3633fa1c63a4ac9dd8d762351feat: rebase后配置参数的调整、冗余代码合并、通道构造全场景配置editssep/keb_optimizer/keb_problem.cceditreplayer/replayer_data_process/replayer_data_extraction.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbaddTesting/keb_replay_input_test.cppeditdata/ssep/reverse_ec.hppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/scenarios/imv_pullover_planner.heditssep/test/keb_normal_extension_test.cceditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_scenario_config_loader.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditoffboard/bag_to_keb_scene/bag_reader.cceditproto/keb_scene.protoeditREADME.mdaddssep/common/utils/tunnel_geometry.heditssep/test/online_merge_retention_test.cceditTesting/scene_replay_foundation_test.cppeditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/keb_problem.heditdata/config/cfg_lat_plan.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_collision_model.heditdata/ssep/ssep_scenario_config.hppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ex_lane_change_ec.cppeditssep/offboard/cli/analysis_options.heditssep/test/ssep_planner_test.ccaddoffboard/keb_path_opt_cli/keb_replay_input.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/offboard/diagnostic/optimizer_parameters.heditssep/keb_optimizer/configuration_yaml.heditdata/ssep/normal_junction_ec.hppeditconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditoffboard/keb_path_opt_cli/keb_single_frame_cli.cceditssep/test/CMakeLists.txtaddssep/test/keb_parameter_unification_test.cceditssep/offboard/diagnostic/report.heditTesting/ssep_scenario_config_lifecycle_test.cppeditalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hppeditssep/keb_optimizer/parameters_proto_codec.heditdata/ssep/out_yard_junction_ec.hppeditTesting/CMakeLists.txteditdata/ssep/open_space_ec.cppeditoffboard/keb_path_opt_cli/SINGLE_FRAME.mdeditssep/test/parking_collision_provenance_test.cceditssep/protos/params.protoeditTesting/search_decider_lifecycle_test.cppeditdata/ssep/into_yard_junction_ec.cppeditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditdata/ssep/normal_junction_ec.cppedittasks/plan/keb_lane_follow_path_task.cppeditdata/ssep/field_junction_ec.cppeditdata/ssep/ssep_ec.hppeditreplayer/scene_data/config_proto_codec.cppeditssep/keb_optimizer/configuration_fields.heditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditdata/ssep/forward_ec.cppeditssep/keb_optimizer/parameters.hedittasks/plan/keb_utils_core.hppeditssep/offboard/diagnostic/report_template.htmleditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.cceditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.heditssep/keb_optimizer/recorded_stage_defaults.heditoffboard/bag_to_keb_scene/CMakeLists.txteditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditdata/ssep/seaside_junction_ec.cppedittasks/plan/keb_path_optimize_task.cppeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/offboard/diagnostic/optimization_identity.jseditdata/ssep/ssep_scenario_config.cppeditoffboard/bag_to_keb_scene/bag_reader.hppeditssep/keb_optimizer/PLANNING_PROFILES.mdeditdata/ssep/reverse_ec.cppeditssep/keb_optimizer/optimizer_defaults.heditproto/config.protoeditssep/keb_optimizer/optimizer_parameters.heditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditssep/offboard/cli/README.mdeditdata/ssep/bridge_junction_ec.cppeditoffboard/bag_to_keb_scene/README.mdeditssep/offboard/scene_replay/CMakeLists.txteditreplayer/scene_data/full_custom_codec_exclusions.yaml
- offboard/keb_path_opt_cli/keb_run_options.ccssep/offboard/diagnostic/optimization_multimeasure.jsssep/offboard/diagnostic/optimization_acceptance.jsssep/test/output_provenance_test.ccssep/offboard/diagnostic/optimization_provenance.jsssep/keb_optimizer/parameters.hssep/offboard/diagnostic/output_provenance.hssep/offboard/diagnostic/README.mdssep/offboard/diagnostic/optimization_diagnostics.jsssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/scenarios/truck_remote_guided_escape_planner.hssep/test/keb_softmin_collision_test.ccssep/offboard/diagnostic/kinematic_validation.hssep/keb_optimizer/keb_problem.ccssep/test/keb_parameter_unification_test.ccssep/keb_optimizer/configuration_fields.hssep/offboard/cli/README.mdssep/offboard/diagnostic/report.hssep/offboard/diagnostic/trace.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/offboard/diagnostic/optimization_overview.jsssep/scenarios/imv_multi_segment_parking_planner.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/control_space_refiner.ccssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/test/acceptance_workspace_test.jsssep/keb_optimizer/imv_keb_optimizer.ccssep/test/output_provenance_test.jsssep/offboard/scene_replay/CMakeLists.txtoffboard/keb_path_opt_cli/keb_run_options.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/offboard/diagnostic/report_template.htmlssep/offboard/diagnostic/optimization_workspace.jsssep/offboard/diagnostic/optimization.hssep/scenarios/stitching_replanner.hssep/ssep_planner.ccoffboard/keb_path_opt_cli/keb_single_frame_cli.ccssep/offboard/diagnostic/optimization_plotworkspace.jsssep/scenarios/tractor_trailer_single_segment_parking_planner.h67aa198da18d78b95749de4c6dba4002f87f65cd1791957687000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo调整 KEB 参数与配置生效，完善离线回放及诊断
1. 调整牵引车 KEB 场景默认参数
2. 修复碰撞硬缓冲配置的实际生效
3. 让停车历史路径优化正确接收显式配置
4. 修复离线回放终点容差被默认值覆盖
5. 新增最终路径的来源追踪
6. 改进 HTML 优化与验收诊断
2026-10-14 14:01:27 +080067aa198da18d78b95749de4c6dba4002f87f65cd调整 KEB 参数与配置生效，完善离线回放及诊断editssep/offboard/diagnostic/optimization_acceptance.jseditssep/keb_optimizer/keb_problem.cceditssep/offboard/diagnostic/optimization_overview.jsaddssep/test/output_provenance_test.cceditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/offboard/diagnostic/report_template.htmleditssep/offboard/diagnostic/report.heditssep/scenarios/truck_remote_guided_escape_planner.heditssep/offboard/diagnostic/trace.haddssep/test/output_provenance_test.jseditoffboard/keb_path_opt_cli/keb_simulator.ccaddssep/offboard/diagnostic/optimization_provenance.jseditssep/test/keb_parameter_unification_test.cceditssep/ssep_planner.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/offboard/diagnostic/optimization_plotworkspace.jseditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/offboard/diagnostic/optimization_workspace.jseditssep/keb_optimizer/configuration_fields.heditssep/offboard/diagnostic/kinematic_validation.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/offboard/diagnostic/README.mdeditssep/keb_optimizer/PLANNING_PROFILES.mdeditoffboard/keb_path_opt_cli/keb_run_options.hppeditoffboard/keb_path_opt_cli/keb_run_options.cceditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/parameters.heditssep/offboard/diagnostic/optimization.heditssep/offboard/diagnostic/optimization_diagnostics.jsaddssep/test/acceptance_workspace_test.jseditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/diagnostic/optimization_multimeasure.jseditoffboard/keb_path_opt_cli/keb_single_frame_cli.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/stitching_replanner.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/keb_optimizer/control_space_refiner.ccaddssep/offboard/diagnostic/output_provenance.heditssep/offboard/cli/README.md
- data/plan/ssep_data.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtdata/ssep/field_junction_ec.cppssep/test/bidirectional_candidate_validation_test.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/scenarios/forward_collision_check_params.hssep/test/truck_parking_retry_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/ssep_ec.cppssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.hssep/scenarios/rigid_truck_parking_validation.hTesting/ssep_path_corridor_test.cppssep/scenarios/truck_accurate_reversing_planner.hssep/test/parking_history_collision_test.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/scenario_planner_factory.hssep/test/rigid_truck_tail_connection_test.ccssep/test/ssep_planner_test.ccssep/test/forward_clearance_check_test.ccTesting/parking_pass_progress_test.cppssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/coarse_search/motion_primitive_sampler/straight_line_motion_primitive_sampler.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccssep/scenarios/tail_straight_distance.hTesting/ssep_scenario_config_lifecycle_test.cppdocs/ssep_stop_collision_extension.md28230b82a8c5993e6e496a19bd193bb400736af41791989231000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善停车重规划的拉直与碰撞验收
统一货车多段停车、精准倒车和历史路径重规划的任务途经点与拉直参数生命周期。
补充实际运动曲率、末段倒车顺序及搜索/优化前向净空验收，避免无效候选占据搜索状态。
显式短尾段缩短搜索硬直线，保留长距离软拉直语义和统一请求预算。
补齐边界、连续重规划和历史复用测试，移除逐点优化结果绑定，外部录制测试改为显式数据目录。
验证：PNC 主程序及相关测试编译通过；SSEP 387 项通过、13 项外部数据测试跳过；PNC 路径与配置测试 262 项通过。
2026-10-14 22:47:11 +080028230b82a8c5993e6e496a19bd193bb400736af4fix: 完善停车重规划的拉直与碰撞验收editssep/scenarios/truck_accurate_reversing_planner.heditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.haddssep/test/forward_clearance_check_test.cceditTesting/ssep_path_corridor_test.cppeditdata/ssep/field_junction_ec.cppeditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditssep/test/parking_history_collision_test.cceditdata/ssep/ssep_ec.cppaddssep/test/truck_parking_retry_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/ssep_planner.ccaddssep/test/rigid_truck_parking_validation_test.cceditssep/scenarios/truck_multi_segment_parking_planner.haddssep/scenarios/rigid_truck_parking_validation.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/CMakeLists.txteditssep/coarse_search/motion_primitive_sampler/straight_line_motion_primitive_sampler.cceditssep/scenarios/scenario_planner_factory.heditssep/test/bidirectional_candidate_validation_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/scenarios/stitching_replanner.heditssep/scenarios/forward_collision_check_params.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/scenarios/tail_straight_distance.heditssep/test/ssep_planner_test.ccaddssep/test/rigid_truck_tail_connection_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditTesting/parking_pass_progress_test.cppeditdata/plan/ssep_data.cppaddssep/scenarios/forward_clearance_check.heditdocs/ssep_stop_collision_extension.md
- ssep/offboard/servers/scene_vis_html_template.cc8f77173b5181b56020e7d30c0a1e68533b9d6fe81791989231000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制场景起终点的车头航向箭头
起点使用红色箭头、终点使用绿色箭头，并伸出车头边缘以区分 IMV 前后方向。
按车身 heading 绘制，不叠加斜行 beta，与对应车框共用显示开关。
验证：可视化服务编译通过，JavaScript 语法、方向几何与既有绘制检查通过。
2026-10-14 22:47:11 +08008f77173b5181b56020e7d30c0a1e68533b9d6fe8feat: 绘制场景起终点的车头航向箭头editssep/offboard/servers/scene_vis_html_template.cc
- ssep/test/local_regression/tt_ordered_pose_results.jsonssep/test/local_regression/manual_review_quality.pyssep/test/local_regression/selection_review_20261014_cases.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_recent_regression_backend.pyssep/test/local_regression/run_full_regression.pyssep/test/local_regression/tt_ordered_via_manifest.tsvssep/test/local_regression/rigid_parking_quality.pyssep/test/local_regression/tt_ordered_via_quality.jsonssep/test/local_regression/test_manual_review_quality.pyssep/test/local_regression/tt_reverse_priority_cases.jsonssep/test/local_regression/prepare_full_regression.pyssep/test/local_regression/tt_multi_ratio_manifest.tsvssep/test/local_regression/rigid_parking_collision_quality.pyssep/test/local_regression/test_regression_report_artifacts.pyssep/test/local_regression/test_rigid_parking_quality.pyssep/test/local_regression/test_rigid_parking_collision_quality.pyssep/test/local_regression/generate_pose_regression.pyssep/test/local_regression/test_full_regression_report.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/render_full_regression_report.pyssep/test/local_regression/recorded_20261013_14_cases.jsonssep/test/local_regression/test_gpu_regression_eligibility.pyssep/test/local_regression/tt_ordered_feasibility_manifest.tsvssep/test/local_regression/recorded_rigid_parking_quality.jsonssep/test/local_regression/tt_reverse_priority_tail0_quality.jsonssep/test/local_regression/render_regression_report.pyssep/test/local_regression/tt_heading_cases.jsondocs/ssep_continuous_kinematic_correction.mdssep/test/local_regression/tt_ordered_via_cases.jsonssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvssep/test/local_regression/tt_reference_cusp_quality.pyssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/gpu_regression_eligibility.pyssep/test/local_regression/test_tt_reference_cusp_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/render_exploration_report.pyssep/test/local_regression/planning_success_quality.pyssep/test/local_regression/tt_exit_feasibility_manifest.tsvssep/test/local_regression/tt_reverse_priority_manifest.tsvssep/test/local_regression/tt_daily_20261011_reviewed_cases.jsonssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvssep/test/local_regression/path_quality.pydocs/reverse_pickup_search.mdssep/test/local_regression/tt_heading_manifest.tsvssep/test/local_regression/test_recorded_regression.pyssep/test/local_regression/recorded_20261013_14_manifest.tsvssep/test/local_regression/test_rigid_parking_motion_quality.pyssep/test/local_regression/tt_reference_cusp_manifest.tsvssep/test/local_regression/tt_recent_parking_cpu_manifest.tsvssep/test/local_regression/tt_ordered_pose_cases.jsonssep/test/local_regression/test_pose_regression.pyssep/test/local_regression/selection_review_20261014_manifest.tsvssep/test/local_regression/test_full_regression_runner.pyssep/test/local_regression/tt_multi_collision_manifest.tsvssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.jsonssep/test/local_regression/tt_ordered_pose_manifest.tsv634b996d1685cb3d5c31ca93b749a9f1ce9d08ef1791989231000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 更新人工回归规则并精简测试工具
按人工选择反馈移除无效场景及空清单，登记删除决策和来源，补充运动方向、物理车头及 15 m 任务换向距离验收。
CPU/GPU 按同案例及有效输入并排展示；原输入不适用 GPU 时直接跳过，不补跑 CPU。
批量执行隔离单例预检查异常，续跑核验超时、并发、远端及依赖条件。
清理已退出的姿态派生工具、重复测试和无引用配置，保留有效碰撞与运动学覆盖。
验证：Python 回归工具运行 196 项，无失败，缺少数据/服务的项目明确跳过；17 份有效清单共 129 个条目，配置引用完整，diff 检查通过。
2026-10-14 22:47:11 +0800634b996d1685cb3d5c31ca93b749a9f1ce9d08eftest: 更新人工回归规则并精简测试工具addssep/test/local_regression/selection_review_20261014_manifest.tsvaddssep/test/local_regression/recorded_20261013_14_cases.jsonaddssep/test/local_regression/test_full_regression_report.pydeletessep/test/local_regression/tt_multi_ratio_manifest.tsveditssep/test/local_regression/tt_recent_parking_cpu_manifest.tsveditdocs/reverse_pickup_search.mdeditdocs/ssep_continuous_kinematic_correction.mdeditssep/test/local_regression/tt_exit_feasibility_manifest.tsvdeletessep/test/local_regression/tt_ordered_feasibility_manifest.tsvaddssep/test/local_regression/test_recorded_regression.pyaddssep/test/local_regression/rigid_parking_motion_quality.pyeditssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/rigid_parking_collision_quality.pyaddssep/test/local_regression/manual_review_quality.pyeditssep/test/local_regression/bulkout_initial_quality.jsonaddssep/test/local_regression/recorded_rigid_parking_quality.jsondeletessep/test/local_regression/tt_reverse_priority_tail0_quality.jsoneditssep/test/local_regression/test_path_quality.pydeletessep/test/local_regression/tt_ordered_pose_manifest.tsvaddssep/test/local_regression/tt_daily_20261011_reviewed_cases.jsoneditssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvdeletessep/test/local_regression/tt_ordered_pose_results.jsondeletessep/test/local_regression/tt_ordered_via_quality.jsoneditssep/test/local_regression/tt_heading_manifest.tsveditssep/test/local_regression/README.mdeditssep/test/local_regression/tt_reverse_priority_cases.jsonaddssep/test/local_regression/test_rigid_parking_quality.pyaddssep/test/local_regression/test_manual_review_quality.pyaddssep/test/local_regression/test_rigid_parking_collision_quality.pyeditssep/test/local_regression/tt_reference_cusp_quality.pyaddssep/test/local_regression/gpu_regression_eligibility.pyeditssep/test/local_regression/test_tt_reference_cusp_quality.pyaddssep/test/local_regression/test_regression_report_artifacts.pyeditssep/test/local_regression/tt_multi_collision_manifest.tsveditssep/test/local_regression/run_ssep_regression.pyeditssep/test/local_regression/tt_reverse_priority_manifest.tsvaddssep/test/local_regression/prepare_full_regression.pyeditssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/test_gpu_regression_eligibility.pyaddssep/test/local_regression/render_full_regression_report.pyaddssep/test/local_regression/run_full_regression.pyeditssep/test/local_regression/tt_reference_cusp_manifest.tsveditssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvdeletessep/test/local_regression/test_pose_regression.pyeditssep/test/local_regression/tt_heading_cases.jsonaddssep/test/local_regression/test_full_regression_runner.pyeditssep/test/local_regression/path_quality.pyaddssep/test/local_regression/render_exploration_report.pydeletessep/test/local_regression/tt_ordered_via_manifest.tsvdeletessep/test/local_regression/generate_pose_regression.pyaddssep/test/local_regression/render_regression_report.pydeletessep/test/local_regression/tt_ordered_pose_cases.jsonaddssep/test/local_regression/planning_success_quality.pyaddssep/test/local_regression/test_rigid_parking_motion_quality.pyeditssep/test/local_regression/test_recent_regression_backend.pydeletessep/test/local_regression/tt_ordered_via_cases.jsonaddssep/test/local_regression/recorded_20261013_14_manifest.tsvaddssep/test/local_regression/rigid_parking_quality.pyaddssep/test/local_regression/selection_review_20261014_cases.json
- ssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/scenario_optimizer_defaults.hssep/scenarios/stitching_replanner.hssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/recorded_stage_defaults.hssep/keb_optimizer/keb_problem.ccssep/test/keb_parameter_unification_test.ccssep/keb_optimizer/configuration_fields.hae751fcc65bdb3eb7f44e70f22fe4e1b748141091792027982000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 1.keb固定权重细化不依赖预热调度，始终读取当前倍率 2.适配调整后的keb参数默认值
2026-10-15 09:33:02 +0800ae751fcc65bdb3eb7f44e70f22fe4e1b74814109feat: 1.keb固定权重细化不依赖预热调度，始终读取当前倍率 2.适配调整后的keb参数默认值editssep/keb_optimizer/keb_problem.cceditssep/scenarios/stitching_replanner.heditssep/keb_optimizer/scenario_optimizer_defaults.heditssep/test/keb_parameter_unification_test.cceditssep/keb_optimizer/recorded_stage_defaults.heditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/configuration_fields.h
- replayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/keb_roadside_config_test.cppssep/keb_optimizer/parameters.hTesting/keb_parameters_config_test.cppssep/offboard/diagnostic/optimization_diagnostics.jsssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/offboard/diagnostic/optimizer_parameters.hssep/keb_optimizer/keb_problem.ccssep/test/keb_parameter_unification_test.ccssep/keb_optimizer/configuration_fields.hssep/keb_optimizer/parameters_proto_codec.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppTesting/keb_roadside_footprint_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/keb_optimizer/PLANNING_PROFILES.mdssep/protos/params.protoreplayer/scene_data/generated/compact_scene_descriptor.pbssep/test/keb_collision_weight_test.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccreplayer/scene_data/compact_numeric_policy.yamlssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccreplayer/scene_data/compact_numeric_leaf_contract.csvssep/keb_optimizer/keb_problem.hreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb39f8e722a5af1d53d54bdf136357b3235457c2a41792044221000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1. soft-min对实际入侵的参差乘倍率 2.删除冗余的gtest测试单远
2026-10-15 14:03:41 +080039f8e722a5af1d53d54bdf136357b3235457c2a4feat:1. soft-min对实际入侵的参差乘倍率 2.删除冗余的gtest测试单远editssep/keb_optimizer/keb_problem.cceditssep/offboard/diagnostic/optimization_diagnostics.jseditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/test/keb_parameter_unification_test.cceditssep/keb_optimizer/keb_problem.heditssep/protos/params.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/keb_roadside_footprint_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/keb_optimizer/configuration_fields.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/parameters_proto_codec.heditssep/test/keb_softmin_collision_test.cceditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/keb_optimizer/parameters.heditssep/offboard/diagnostic/optimizer_parameters.heditTesting/keb_parameters_config_test.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/keb_roadside_config_test.cppeditTesting/scene_replay_foundation_test.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/test/keb_collision_weight_test.cceditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/compact_numeric_policy.yaml
- ssep/offboard/diagnostic/optimization_provenance.jsssep/offboard/diagnostic/optimization_workspace.jsf1a1af7f81ed9eecc27a34b4cdd2f70918c1761a1792051428000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb中的QP展示优化
2026-10-15 16:03:48 +0800f1a1af7f81ed9eecc27a34b4cdd2f70918c1761afeat: keb中的QP展示优化editssep/offboard/diagnostic/optimization_provenance.jseditssep/offboard/diagnostic/optimization_workspace.js
- data/plan/ssep_data.cppssep/test/imv_parking_history_test.ccssep/test/CMakeLists.txtssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/test/search_guide_scene_test.ccssep/keb_optimizer/cost_features/direction_switch_point_cost.hssep/keb_optimizer/keb_problem.ccssep/test/imv_turnaround_reference_test.ccssep/scenarios/imv_turnaround_reference.hssep/scenarios/imv_enter_station_planner.hdata/other/parking_pass_progress.cppssep/scenarios/imv_parking_validation.hssep/test/bidirectional_stop_collision_test.ccssep/scenarios/imv_enter_station_candidate.hssep/scenarios/imv_multi_segment_parking_planner.hdata/ssep/ssep_activation.cppdata/ssep/ssep_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/forward_clearance_check.hssep/offboard/scene_replay/README.mdTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hssep/scenarios/imv_parking_optimizer_params.hssep/coarse_search/conditions/range_tolerance_condition.hdata/ssep/forward_ec.cppssep/coarse_search/conditions/search_condition_interface.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/scenario_planner_factory.hssep/test/direction_switch_point_cost_test.ccssep/offboard/scene_replay/CMakeLists.txtTesting/parking_pass_progress_test.cppssep/test/forward_clearance_check_test.ccssep/data_structures/imv_terminal_straight.hssep/test/imv_enter_station_candidate_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/scenarios/stitching_replanner.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/keb_optimizer/keb_problem.hssep/ssep_planner.ccssep/common/utils/imv_pass_point.hTesting/ssep_scenario_config_lifecycle_test.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccb375d9576b98675e783b852e3238865fc807d7b21792114929000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善 IMV 换向搜索和历史重规划验收
按换向区域生成并比较候选，保留真实搜索及车辆运动学约束；统一末端直线、碰撞与前向净空验收，并让候选搜索和暖启动回退共用时间预算。
打通历史倒车路径重优化与任务换向完成标记，避免反向操作头误判。暖启动仅固定终点，补验原固定尾段的运动学，并让短余段和极短首尾边回退搜索。
补充候选、碰撞、预算、路径记录和生命周期测试。提交前 104 项算法测试、52 项路径生命周期测试和 41 项场景配置测试通过，回放 CLI 与 pnc_node 构建通过。
2026-10-16 09:42:09 +0800b375d9576b98675e783b852e3238865fc807d7b2fix: 完善 IMV 换向搜索和历史重规划验收editdata/ssep/ssep_activation.cppeditssep/keb_optimizer/keb_problem.ccaddssep/scenarios/imv_parking_optimizer_params.heditssep/scenarios/imv_search_extra_params.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/offboard/scene_replay/README.mdeditTesting/ssep_path_corridor_test.cppeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/offboard/scene_replay/CMakeLists.txteditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/conditions/range_tolerance_condition.heditssep/test/CMakeLists.txteditssep/scenarios/scenario_planner_factory.haddssep/test/imv_enter_station_candidate_test.cceditssep/keb_optimizer/cost_features/direction_switch_point_cost.haddssep/test/imv_parking_history_test.cceditdata/plan/ssep_data.cppaddssep/scenarios/imv_turnaround_reference.heditdata/ssep/ssep_ec.cppeditdata/other/parking_pass_progress.cppeditssep/scenarios/imv_multi_segment_parking_planner.haddssep/test/imv_turnaround_reference_test.ccaddssep/scenarios/imv_parking_validation.heditTesting/parking_pass_progress_test.cppeditssep/scenarios/imv_enter_station_planner.heditssep/test/forward_clearance_check_test.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/test/bidirectional_stop_collision_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppaddssep/data_structures/imv_terminal_straight.heditdata/ssep/forward_ec.cppaddssep/test/direction_switch_point_cost_test.cceditssep/coarse_search/conditions/search_condition_interface.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/common/utils/imv_pass_point.heditssep/test/search_guide_scene_test.cceditssep/scenarios/stitching_replanner.haddssep/scenarios/imv_enter_station_candidate.heditssep/keb_optimizer/keb_problem.heditssep/scenarios/forward_clearance_check.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
- offboard/keb_vis_server/test_heading_diagnostics.jsssep/offboard/servers/scene_vis_html_template.ccssep/test/local_regression/test_scene_vis_geometry.pyssep/offboard/servers/test_heading_diagnostics.jsssep/test/local_regression/render_regression_report.pyssep/test/local_regression/test_render_terminal_entrance.pyoffboard/keb_vis_server/keb_vis_html_template.cc6ef678521eceefc34b3e1faee36a965174c3bbc21792114947000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 区分 IMV 车体与速度航向并展示终点约束
使用保存的 beta 诊断速度方向几何偏差，旧文件缺少 beta 时明确标注；按车体 heading 绘制车身与航向。
显示终点约束、固定直线入口及碰撞证据，区分地图与障碍物颜色。补充 JavaScript 和离线绘图回归测试。
2026-10-16 09:42:27 +08006ef678521eceefc34b3e1faee36a965174c3bbc2fix: 区分 IMV 车体与速度航向并展示终点约束editssep/test/local_regression/render_regression_report.pyeditssep/offboard/servers/test_heading_diagnostics.jsaddssep/test/local_regression/test_render_terminal_entrance.pyeditssep/offboard/servers/scene_vis_html_template.cceditoffboard/keb_vis_server/test_heading_diagnostics.jseditssep/test/local_regression/test_scene_vis_geometry.pyeditoffboard/keb_vis_server/keb_vis_html_template.cc
- ssep/test/local_regression/render_full_regression_report.pyssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.jsonssep/test/local_regression/imv_jiaxing_20261015_terminal_overlay.jsonssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_recent_regression_backend.pyssep/test/local_regression/prepare_imv_jiaxing_regression.pyssep/test/local_regression/imv_jiaxing_20261015_provenance.jsonssep/test/local_regression/imv_jiaxing_20261015_quality.jsonssep/test/local_regression/imv_jiaxing_20261015_cases.jsonssep/test/local_regression/prepare_full_regression.pyssep/test/local_regression/test_prepare_scenario_filter.pyssep/test/local_regression/imv_jiaxing_20261015_manifest.tsvssep/test/local_regression/materialize_imv_jiaxing_regression.pyssep/test/local_regression/test_full_regression_report.py5026bedbbbf78d1e4ed2f4c8ca92b1a99c9b759b1792114975000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 纳入东方特钢精简回归集并固定测试范围
保留 234 个输入的来源链和场景分类路径，以 13 个严格相似组覆盖 18 项，登记 216 项待人工验收用例；保留问题、失败、预算及暖启动专项和原有排除决策。
加入库存恢复和专用准备入口，通过 SHA 范围清单防止共享根混入其他批次，同时保留旧清单的验收规则。按 Proto 类型过滤 Legacy，补齐历史复用后端识别和碰撞证据缓存失效。
归档输入位于共享回归目录，不提交大数据文件。更新使用说明，并验证 Python 范围过滤、报告缓存和后端识别测试。
2026-10-16 09:42:55 +08005026bedbbbf78d1e4ed2f4c8ca92b1a99c9b759btest: 纳入东方特钢精简回归集并固定测试范围editssep/test/local_regression/run_ssep_regression.pyeditssep/test/local_regression/render_full_regression_report.pyaddssep/test/local_regression/imv_jiaxing_20261015_terminal_overlay.jsonaddssep/test/local_regression/materialize_imv_jiaxing_regression.pyaddssep/test/local_regression/test_prepare_scenario_filter.pyeditssep/test/local_regression/test_full_regression_report.pyeditssep/test/local_regression/test_recent_regression_backend.pyaddssep/test/local_regression/imv_jiaxing_20261015_manifest.tsvaddssep/test/local_regression/imv_jiaxing_20261015_cases.jsonaddssep/test/local_regression/prepare_imv_jiaxing_regression.pyaddssep/test/local_regression/imv_jiaxing_20261015_provenance.jsonaddssep/test/local_regression/imv_jiaxing_20261015_quality.jsoneditssep/test/local_regression/README.mdeditssep/test/local_regression/prepare_full_regression.pyaddssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.json
- Testing/ssep_path_corridor_test.cppTesting/bulk_speed_limit_test.cppdata/vehicle/vehicle_destination.cpp9f9ba6a076302295e25e8fac3c92e6cd050afd261792121439000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复双向 IMV 的 SSEP 末端停止线缺失
双向 IMV 在搜索方向与当前车辆方向不一致时，仍按 SSEP 分段索引识别末段，避免静态约束跳过终点停止线。普通车型保留方向一致性检查。
补充正反向末段、非末段、普通车型及实际停止线创建回归；23 项相关测试通过，并核对现场 bag 的 27 帧方向与约束数据。
2026-10-16 11:30:39 +08009f9ba6a076302295e25e8fac3c92e6cd050afd26fix: 修复双向 IMV 的 SSEP 末端停止线缺失editTesting/bulk_speed_limit_test.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cpp
- data/ssep/forward_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp7a74cb6fe7cfdefd48e3a30e8c810669e1b8a9921792121475000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 多段停车重搜索方向门禁
起终点均背向进场轴线时，仅对 IMV 多段停车按当前操作方向初始化环境，避免旧三模式分类阻止重搜索。保留未完成的任务途经点，并拒绝非有限朝向与轴线坐标。
补充任务 84539 的录制参数回归，覆盖操作方向切换、途经点保留、其他场景门禁及无效输入。场景与停车走廊回归共 277 项通过，pnc_node 分布式编译通过；未执行完整场景搜索回放。
2026-10-16 11:31:15 +08007a74cb6fe7cfdefd48e3a30e8c810669e1b8a992fix: 修复 IMV 多段停车重搜索方向门禁editdata/ssep/forward_ec.cppeditTesting/ssep_scenario_config_lifecycle_test.cpp
- tasks/plan/keb_lane_follow_path_task.cppdata/dp_poly_path/trajectory_cost.hppdata/boundary/driving_corridor.cppdata/constrain/longitude_constrain.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/lat_decider/side_pass_decider.cppTesting/data/tsjx_meeting_20261016.jsonCMakeLists.txtdata/dp_poly_path/trajectory_cost.cppTesting/bulk_speed_limit_test.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hppdata/plan/side_pass_data.cppTesting/narrow_meeting_recorded_test.cppTesting/meeting_curve_longitudinal_test.cppdata/dp_poly_path/dp_road_graph_test.cppdata/obstacle/decision/obstacle_decision_test.cpptasks/deciders/long_decider/constrain_decider.cppTesting/keb_gate_filter_test.cppdata/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/dp_poly_path/dp_road_graph.hppdata/obstacle/decision/obstacle_decision.cppTesting/data/tsjx_meeting_20261015.jsondata/dp_poly_path/trajectory_cost_test.cppreplayer/scene_data/generated/state_schema_inputs.jsonTesting/CMakeLists.txttasks/plan/keb_lane_follow_path_task.hpp15f80c59cc41cef09a6ed57532f20a5aec0e0bda1792132343000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正弯道会车避让并统一绕行状态退出
区分直道窄会车与弯口普通动态避让，弯中及跨核心交互交由纵向处理，保留静态障碍和切入安全约束。
撤销动态会车的陈旧绕行承诺，校验历史路径额外侧偏，统一总开关对 DP、走廊、KEB 写回和纵向专项的控制，并修正 SidePassData 状态发布。
补充两天录制组件及状态、边界、缓存回归。258 项横向测试和 19 项纵向测试通过，pnc_node 分布式编译及协议检查通过；尚未完成原地图整段 bag 闭环验证。
2026-10-16 14:32:23 +080015f80c59cc41cef09a6ed57532f20a5aec0e0bdafix: 修正弯道会车避让并统一绕行状态退出editdata/dp_poly_path/dp_road_graph.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/dp_poly_path/trajectory_cost_test.cppeditdata/plan/side_pass_data.cppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/constrain/longitude_constrain.cppeditCMakeLists.txtaddTesting/data/tsjx_meeting_20261015.jsoneditTesting/CMakeLists.txteditTesting/keb_gate_filter_test.cppeditdata/dp_poly_path/dp_road_graph.hppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/boundary/driving_corridor_test.cppeditdata/dp_poly_path/trajectory_cost.cppeditTesting/bulk_speed_limit_test.cppeditdata/dp_poly_path/trajectory_cost.hppedittasks/plan/keb_lane_follow_path_task.hppadddata/dp_poly_path/dp_road_graph_test.cppaddTesting/meeting_curve_longitudinal_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonaddTesting/narrow_meeting_recorded_test.cppedittasks/plan/keb_lane_follow_path_task.cppaddTesting/data/tsjx_meeting_20261016.jsonedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/boundary/driving_corridor.hpp
- docs/side_pass_function.mde13830df3b088da91890a8c85291db92b331bbb21792132361000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充 SidePass 横向避让功能说明
详细说明障碍策略、承诺、SidePassData 状态机、DP 搜索和历史复用、DrivingCorridor、会车及超车生命周期。
补充总开关恢复行为、纵向约束、配置默认值、场景行为和回归入口，并关联对应实现版本。
2026-10-16 14:32:41 +0800e13830df3b088da91890a8c85291db92b331bbb2docs: 补充 SidePass 横向避让功能说明adddocs/side_pass_function.md
- data/ssep/forward_ec.cppae1ca4f445f4d7ae2de99c94087121116ed1de061792137100000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 振石前向搜索跳过默认末端虚拟通道
将振石场景加入不构造默认末端通道的分支，避免落入潍坊散货场景的
ConstructWfBulkEndTunnel。标定模式及其他虚拟障碍构造保持原流程。
已审查分支与通道清理逻辑；当前构建已包含该改动，尚未执行振石专项场景回放。
2026-10-16 15:51:40 +0800ae1ca4f445f4d7ae2de99c94087121116ed1de06fix: 振石前向搜索跳过默认末端虚拟通道editdata/ssep/forward_ec.cpp
- Testing/search_decider_lifecycle_test.cppdocs/ssep_search_lifecycle.mddata/plan/ssep_task_context.cpp89b0887f1d570a0753925390a1a6addad5b897c41792137117000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索跨任务复用规则
修复岸桥等路口执行 SSEP 时，同路线新任务触发重复搜索的问题。
普通、进场、出场、桥和岸桥统一核验有效目标、区域、地图更新及标定条件，
保留同路口、同连接和目标车道的已生效搜索路径。
岸桥单独检查阻挡状态；桥与出场启用短路口连续搜索时核验完整选线路径和
后续路口目标决策，避免默认车道回退或下一路口换线导致错误复用。
补充五类路口任务交接、条件变化、无效目的地和跨路口边界回归并更新文档。
验证：Icecream 分布式编译通过；pnc_reference_line_replan_test
405 项通过、0 失败、61 项跳过。未执行完整 bag 或 GPU 搜索回放。
2026-10-16 15:51:57 +080089b0887f1d570a0753925390a1a6addad5b897c4fix: 统一路口搜索跨任务复用规则editTesting/search_decider_lifecycle_test.cppeditdocs/ssep_search_lifecycle.mdeditdata/plan/ssep_task_context.cpp
- ssep/test/keb_softmin_collision_test.ccssep/common/utils/path_utils.ccssep/keb_optimizer/scenario_optimizer_defaults.hssep/test/keb_parameter_unification_test.ccssep/common/utils/adaptive_collision_checker.hede242139c9c5b88fd60195125ea0bf085c0a1151792141154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整拖挂车终检包络并提高入堆场参考线权重
- 最终碰撞校验保留有符号余量，恢复默认 -0.3 m 净距阈值
- 挂车终检取消挂接偏移，前后各缩短 1 m 并保留几何中心
- 普通入堆场两阶段参考线权重从 1 提高到 10，低贝位保持原值
- 更新包络边界、负余量及场景默认参数单测，固定头段保持不变
验证：正式 CLI 分布式编译通过，相关 45 项单测通过。
同等 2 m 校验的隔离版本完成 578 例回归：555 成功、23 失败，
相对 3 m 基线零退化，杨浦现场原成功 415 例全部保留。
2026-10-16 16:59:14 +0800ede242139c9c5b88fd60195125ea0bf085c0a115feat: 调整拖挂车终检包络并提高入堆场参考线权重editssep/test/keb_parameter_unification_test.cceditssep/common/utils/path_utils.cceditssep/keb_optimizer/scenario_optimizer_defaults.heditssep/common/utils/adaptive_collision_checker.heditssep/test/keb_softmin_collision_test.cc
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/vehicle/vehicle_destination.hppTesting/step_align_distance_source_test.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppdata/vehicle/vehicle_destination.cppproto/map_data.protoreplayer/scene_data/compact_numeric_leaf_contract.csvplan/prepare/prepare_status.hppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pb9765986feb718c3dbdb57379e8120a4b455aae4d1792144466000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 统一步进对准地图选源并完善补偿与失效停车
STEP 执行期间使用地图距离计算相对进度，退出后清除步进补偿，避免精停来源切换和旧补偿污染 AA 反馈。
完善地图失效及请求结束时的停车状态流转，补充回归用例与 Full/Compact 回放字段配套。
验证：git diff --cached --check 通过；本次未运行编译和现场回放。
2026-10-16 17:54:26 +08009765986feb718c3dbdb57379e8120a4b455aae4dfeat: 统一步进对准地图选源并完善补偿与失效停车editproto/map_data.protoeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/remaining_plan_proto_codec.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditTesting/CMakeLists.txtaddTesting/step_align_distance_source_test.cppeditplan/prepare/prepare_status.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/vehicle/vehicle_destination.hppeditplan/prepare/prepare_status.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppeditdata/vehicle/vehicle_destination.cpp
- ssep/coarse_search/conditions/always_true_condition.hssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/test/search_condition_identity_test.ccssep/test/CMakeLists.txtssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cc84103d6512eb05f173df0d8877faac2496810b531792160209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复搜索条件重名导致的变道崩溃
将搜索侧无条件判定类重命名为 AlwaysTrueSearchCondition，消除与历史路径状态匹配类的 ODR 冲突，避免阶段切换调用错误虚函数表。同步变道构建器和教程，新增两类条件共存、虚调用与阶段转换回归。
验证：pnc_node 分布式构建通过，3 项 SearchConditionIdentityTest 回归全部通过。现场苏溪 T04 的 5 份 dump 已核对同源，修复尚未部署车端。
2026-10-16 22:16:49 +080084103d6512eb05f173df0d8877faac2496810b53fix: 修复搜索条件重名导致的变道崩溃editssep/coarse_search/tutorial/search-engines.htmleditssep/coarse_search/conditions/always_true_condition.haddssep/test/search_condition_identity_test.cceditssep/test/CMakeLists.txteditssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.cceditssep/coarse_search/tutorial/builders-and-scenarios.html
- ssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdocs/ssep/parking_staged_optimization.mdssep/test/tractor_trailer_kinematic_weight_test.ccf1c5d10c8f1d064bf9fc555a56383b39887ee8ba1792387525000http://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editdocs/ssep/parking_staged_optimization.mdeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/tractor_trailer_kinematic_weight_test.cc
- ssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/evaluator/trailer_search_guide.hssep/test/trailer_search_guide_test.ccssep/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/evaluator/trailer_search_guide.cceditssep/coarse_search/evaluator/trailer_search_guide.heditdocs/ssep/trailer_search_guide.mdeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/trailer_search_guide_test.cceditssep/test/ssep_planner_test.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.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/coarse_search/bidirectional_hybrid_astar_search_engine.heditdocs/ssep/trailer_search_guide.mdeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.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.hppeditdocs/ssep_search_lifecycle.mdeditTesting/search_decider_lifecycle_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/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.jsondata/ssep/base_stop_line_filter.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cppdocs/ssep_search_lifecycle.mddata/ssep/base_stop_line_filter.hpp7fde9d90b56c90cbc90c2cd660f056d2247a455e1792395507000http://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editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/base_stop_line_filter.cppeditTesting/continuous_junction_replan_test.cppeditdocs/ssep_search_lifecycle.mdedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/base_stop_line_filter.hpp
- docs/ssep_parameter_port_plan.mddocs/ssep_parameter_port_report.md8bd52da9e19cfe5f32d6a12375c8363d3a512cef1792395834000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 固定按功能重构计划与验收边界
2026-10-19 15:43:54 +08008bd52da9e19cfe5f32d6a12375c8363d3a512cefdocs(ssep): 固定按功能重构计划与验收边界adddocs/ssep_parameter_port_plan.mdadddocs/ssep_parameter_port_report.md
- docs/ssep_parameter_port_source_matrix.md7cb5d10e06e9b8f81cfc48349749c38c84cf81671792395834000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 追踪105项来源提交及最终能力
2026-10-19 15:43:54 +08007cb5d10e06e9b8f81cfc48349749c38c84cf8167docs(ssep): 追踪105项来源提交及最终能力adddocs/ssep_parameter_port_source_matrix.md
- data/vehicle/related_offset.hppdocs/ssep_parameter_port_report.mdreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/other/flow_control.hppdata/config/cfg_func_sw.cppdata/config/cfg_long_plan.cppdata/vehicle/cloud_lane_change_status.hppdata/vehicle/vehicle_status.cppdata/config/cfg_lat_plan.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/plan/path_data.hppdata/lateral_decision/lateral_decision_info.hppdata/ctrl/ctrl_data.cppdata/vehicle/tuc_info.hppdata/config/cfg_static.cppdata/decide/error_info.cppdocs/ssep_parameter_port_initialization.mdreplayer/scene_data/generated/compact_scene_descriptor.pbdata/config/cfg_ssep.cppdata/config/cfg_lat_decide.cppdata/app/reaction/app_reaction.cppdata/config/cfg_dynamic.cppdata/config/cfg_safe_const.cppdata/ctrl/lka_start_up.hppreplayer/scene_data/generated/state_schema_inputs.jsonTesting/default_state_initialization_test.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pbdata/vehicle/priori_bay_info.cppaab390e918c1097eb623e84d0eda5d67d01263941792395894000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(replay): 初始化实际读取状态并校验本机生成基线
2026-10-19 15:44:54 +0800aab390e918c1097eb623e84d0eda5d67d0126394fix(replay): 初始化实际读取状态并校验本机生成基线editdata/app/reaction/app_reaction.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppaddTesting/default_state_initialization_test.cppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditdata/config/cfg_long_plan.cppeditdata/vehicle/cloud_lane_change_status.hppeditdata/config/cfg_dynamic.cppeditdata/ctrl/ctrl_data.cppeditdata/lateral_decision/lateral_decision_info.hppeditdata/config/cfg_ssep.cppeditdata/vehicle/related_offset.hppeditdata/vehicle/vehicle_status.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/config/cfg_lat_decide.cppeditdata/config/cfg_static.cppeditdata/vehicle/priori_bay_info.cppeditTesting/CMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_lat_plan.cppeditdata/other/flow_control.hppeditdata/vehicle/tuc_info.hppeditdata/decide/error_info.cppadddocs/ssep_parameter_port_initialization.mdeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/config/cfg_safe_const.cppeditdata/ctrl/lka_start_up.hppeditdata/plan/path_data.hppeditdocs/ssep_parameter_port_report.md
- tools/pnc_proto_mapper/sync_config_schema.pytools/pnc_proto_mapper/test_config_schema_presence.py9c667aa2b14f11792856ab6329cf07e96a3219f11792395894000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(codegen): 支持GCC配置与外置构建的真实AST校验
2026-10-19 15:44:54 +08009c667aa2b14f11792856ab6329cf07e96a3219f1fix(codegen): 支持GCC配置与外置构建的真实AST校验edittools/pnc_proto_mapper/test_config_schema_presence.pyedittools/pnc_proto_mapper/sync_config_schema.py
- ssep/offboard/main_test/main_test_tt.ccssep/coarse_search/search_trace.ccssep/coarse_search/legacy_searchers/hybrid_a_star_tt.hssep/scenarios/truck_bulk_yark_in_out_planner.hssep/offboard/generate_path_repository/path_repository_tool_io.hplan/prepare/prepare_status.cppdata/ssep/ssep_util.cppssep/protos/ssep_scenario_type.protossep/offboard/demo/src/main_ssep_activation.ccssep/common/object_manager.cctasks/plan/reversing_truck_path_task.cppreplayer/scene_data/compact_snapshot_stream_decoder.cppssep/offboard/main_test/main_test_dg.ccCMakeLists.txttasks/plan/ssep_task.cppssep/offboard/scene_replay/scene_replay_cli_integration_test.pyssep/maps/ogm_builder.ccreplayer/scene_data/full_proto_custom_encoder.hppssep/coarse_search/preprocessed_curves/trajectories_reader.ccreplayer/scene_data/compact_ssep_ec_geometry_codec.hppreplayer/scene_data/versioned_compact_decoder.cppdata/ssep/offline_region_contour_loader.cppssep/scenarios/planner_utils.hssep/coarse_search/legacy_searchers/hybrid_a_star_car.ccssep/coarse_search/geometric_search_visualizer.hssep/common/utils/search_guide_body_sweep.hssep/test/parking_collision_provenance_test.ccnode/logic.hppTesting/ssep_path_corridor_test.cppssep/coarse_search/preprocessed_curves/trajectories_reader.hssep/scenarios/truck_accurate_reversing_planner.hTesting/bulk_goal_obstacle_filter_test.cppssep/offboard/scene_replay/DATASET_AUDIT.mdreplayer/scene_data/compact_numeric_policy.yamlssep/protos/scene.protossep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.hreplayer/scene_data/live_compact_ingress.cpptasks/plan/keb_utils_core.hppreplayer/scene_data/plan_frame_persistence_policy.yamlssep/offboard/scene_replay/test_audit_ssep_dataset.pyssep/data_structures/path_repository_manager.hssep/test/trailer_heuristic_table_test.ccssep/offboard/tools/executable/main_region_cut_apollo.ccssep/data_structures/pose_utils.hssep/offboard/scene_frame_provider.ccreplayer/scene_data/compact_proto_codec.cppssep/offboard/ReadMe.mdssep/test/CMakeLists.txtdata/other/flow_control.cppssep/offboard/ssep_planner_wrapper.ccssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.hdata/ssep/out_yard_junction_ec.cppssep/offboard/ssep_activation_sdk.ccssep/offboard/main_test/main_test_diagonal.ccssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.ccssep/common/ssep_scene_format.hssep/offboard/start.shdata/ssep/ssep_ec.hpphmi/draw/draw_ssep.cppssep/offboard/servers/scene_audit.hssep/common/utils/scene_frame_visualization.hTesting/live_compact_version_test.cppssep/offboard/generate_scene_data/generate_scene_data_cli.ccreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/common/utils/scene_frame_visualization.ccssep/coarse_search/legacy_searchers/hybrid_a_star_imv.ccssep/coarse_search/README.mddata/ssep/ssep_file_naming.hppssep/ssep_scene_planner.hssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/offboard/generate_scene_data/transform_to_body_frame_cli.ccreplayer/scene_data/generated/plan_frame_member_inputs.jsonssep/coarse_search/multi_stage_hybrid_astar_search_engine.cctasks/plan/keb_utils.hppTesting/ssep_file_naming_test.cppdata/ssep/ex_lane_change_ec.hppssep/data_structures/ssep_input.hppssep/test/scene_replay_obstacle_inputs_test.ccssep/maps/ogm_config_utils.hssep/maps/sl_projection_map.hreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/generated_variant_config_patch_test.cppssep/offboard/tools/executable/CMakeLists.txtssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.halgorithm/plan/keb_optimizer.hppssep/coarse_search/legacy_searchers/node_car.hTesting/path_pair_validation_test.cppdocs/ssep_parameter_port_core_implementation.mddata/config/cfg_func_sw.cppssep/common/object_manager.hssep/data_structures/ssep_output.hppTesting/hmi_collision_render_test.cppdata/ssep/open_space_ec.hppTesting/routing_transition_test.cppssep/data_structures/planner_param.hdata/obstacle/cluster_lane_change_safety_test.cppssep/coarse_search/geometric_search_visualizer.ccssep/ssep_heat_net/standarization_params.hssep/data_structures/state_match_condition.ccdata/ssep/ssep_scene_constraints.hppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/ssep_activation.cppssep/offboard/path_drawing_tool/repository_tools_integration_test.pyssep/offboard/ssep_input_provider.hssep/offboard/sdk/ssep_activation_impl.hssep/scenarios/legacy_planner.hssep/common/utils/map_element_utils.hppdata/config/cfg_ssep.cppssep/coarse_search/legacy_searchers/hybrid_a_star_car.hdata/ssep/forward_ec.cppssep/test/scene_preprocessor_test.ccssep/coarse_search/preprocessed_curves/tt_curve_manager.hssep/offboard/generate_path_repository/README.mddata/ssep/ssep_scene_param_builder.cppssep/offboard/ssep_visualizer.hssep/common/utils/common.hppssep/offboard/ssep_input_provider.ccdata/ssep/ssep_file_naming.cppssep/data_structures/type_definition.htools/pnc_proto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统一v2参数与请求快照并贯通在线回放
从 c3109a22f 按 326199ce7 的最终能力实现完整 Param、严格 RAW
Prepare/PlanScene 和请求级 seed/路径库；保留目标 Beam、via/guide、
marker、取消/失效结果和已接受路径的 OGM。核心、在线、codec 及
必要 C++ 消费者共用同名新协议，作为一个可构建检查点提交。
Compact writer 8 保留目标字段编号与历史非SSEP兼容，精确迁移门禁
不改严格 baseline。补齐异步快照录制、匹配边界 exact 几何、冻结
参数/轮角/seed、同车型显式几何实验及无效 WBCA 输入拒绝。
验证：主工程12组CTest通过（1691 pass/70既有条件skip）；CPU核心
438项、本机GPU核心465项通过，13个已确认缺现场数据场景待验。
生成审计和12项迁移测试通过；完整L3前处理复现边界详见合同文档。
2026-10-19 15:47:14 +08009025ab226d5adc327c74d5465bfb62ca0f8c54ebrefactor(ssep): 统一v2参数与请求快照并贯通在线回放editssep/keb_optimizer/keb_problem.haddssep/offboard/generate_scene_data/scene_transform_integration_test.pyeditssep/maps/ogm_config_utils.heditssep/offboard/scene_frame_provider.cceditTesting/bulk_goal_obstacle_filter_test.cppeditssep/offboard/path_drawing_tool/path_drawing_tool_main.ccdeletessep/data_structures/ssep_recursion_og.hppeditalgorithm/plan/keb_optimizer.hppdeletessep/common/object_manager.heditproto/CMakeLists.txteditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/coarse_search/legacy_searchers/grid_search.heditreplayer/scene_data/generated/plan_frame_field_roles.jsondeletessep/coarse_search/preprocessed_curves/trajectories_reader.ccadddata/ssep/ssep_scene_param_builder.hppdeletessep/offboard/conf/ssep_imv.yamldeletessep/offboard/conf/ssep_imv_xugong.yamleditreplayer/algorithm_replay/generated_variant_config_patch.cppeditssep/common/utils/proto_io.heditssep/data_structures/pose.heditssep/common/utils/common.hppeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditdata/ssep/reverse_ec.cppeditssep/protos/scene.protoadddocs/ssep_parameter_port_online.mdeditssep/coarse_search/README.mdeditssep/common/utils/plotter.hppeditTesting/generated_variant_config_patch_test.cppeditdata/ssep/open_space_ec.hppeditreplayer/scene_data/compact_proto_codec.cppaddTesting/ssep_file_naming_test.cppeditssep/common/utils/scene_frame_visualization.ccdeletessep/offboard/tools/executable/main_obstacle_publisher.ccaddssep/ssep_scene_planner.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditproto/plan_data.protoeditssep/offboard/scene_frame_provider.heditssep/common/utils/scene_frame_visualization.hdeletessep/param_loader/yaml_loader.heditreplayer/scene_data/full_custom_codec_exclusions.yamleditssep/scenarios/tractor_trailer_short_distance_planner.heditreplayer/scene_data/generated/plan_frame_descriptor.pbdeletessep/offboard/generate_scene_data/generate_scene_data_cli.cceditssep/coarse_search/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.heditreplayer/scene_data/compact_numeric_leaf_contract.csvaddssep/test/state_match_condition_test.cceditdata/other/flow_control.cppdeletessep/offboard/ssep_type_definition.heditssep/keb_optimizer/control_space_path_adapter.hdeletessep/offboard/tools/executable/main_obb_vehicle.cceditssep/scenarios/truck_bulk_yark_in_out_planner.heditssep/coarse_search/tutorial/search-engines.htmleditssep/offboard/servers/scene_editor_server.ccedittasks/plan/ssep_task.hppeditdata/ssep/out_yard_junction_ec.cppeditssep/offboard/servers/test_heading_diagnostics.jseditssep/test/gpu_sampler_test.cceditdata/plan/ssep_data.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/coarse_search/legacy_searchers/hybrid_a_star_car.heditreplayer/scene_data/compatibility_gateway.hppeditssep/coarse_search/legacy_searchers/hybrid_a_star_tt.ccdeletessep/data_structures/ssep_output.hppeditssep/offboard/scene_replay/replay_scene_frame_cli.cceditdata/ssep/ssep_activation.hppadddata/ssep/ssep_file_naming.cppeditdata/plan_frame.cppaddssep/offboard/scene_replay/DATASET_AUDIT.mdeditdata/plan/ssep_data.hppeditssep/protos/ssep_scenario_type.protoeditssep/offboard/path_drawing_tool/CMakeLists.txteditssep/common/utils/map_element_utils.hppaddTesting/ssep_raw_scene_geometry_test.cppeditssep/README.mdaddssep/offboard/scene_replay/test_audit_ssep_dataset.pydeletessep/offboard/conf/ssep_car.yamleditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/field_junction_ec.cppeditssep/data_structures/map_element_polyline.cceditssep/offboard/servers/scene_editor_html_template.cceditdata/ssep/seaside_junction_ec.hppdeletessep/offboard/conf/ssep_tt.yamleditssep/data_structures/type_definition.heditssep/offboard/servers/scene_vis_html_template.cceditdata/config/cfg_ssep.cppeditssep/offboard/servers/scene_vis_server.cceditnode/logic.cppaddTesting/ssep_replay_pipeline_test.cppeditssep/maps/ogm_builder.heditTesting/keb_obstacle_visibility_test.cppeditreplayer/scene_data/compact_snapshot_stream_decoder.cppeditreplayer/scene_data/compact_scene_archive_codec.cppeditssep/coarse_search/legacy_searchers/node_car.hdeletessep/ssep_heat_net/ssep_heat_net.ccdeletessep/data_structures/pose_utils.cceditssep/data_structures/path_repository_manager.heditdata/ssep/open_space_ec.cppdeletessep/offboard/ssep_activation_sdk.cceditssep/maps/ogm_builder.cceditssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cceditssep/test/ssep_planner_test.ccdeletessep/offboard/scene_replay/replay_ssep_input_cli.ccaddssep/data_structures/planner_param.hdeletessep/offboard/demo/src/main_ssep_activation.ccedittasks/plan/reversing_truck_path_task.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.hppdeletedata/config/cfg_calib_ssep.hppeditssep/protos/path_repository.protoeditssep/coarse_search/evaluator/trailer_heuristic_metadata.heditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/test/forward_collision_check_params_test.ccaddssep/test/path_repository_manager_test.ccaddTesting/ssep_request_resources_test.cppeditssep/coarse_search/legacy_searcher_adaptor.heditssep/scenarios/scenario_planner_factory.heditreplayer/scene_data/generated/plan_frame_decoder.cppeditTesting/parking_pass_progress_test.cppeditssep/coarse_search/geometric_search_visualizer.cceditssep/offboard/servers/path_repository_vis_server.ccaddssep/coarse_search/search_trace.haddssep/data_structures/planning_types.hdeletessep/ssep_heat_net/ssep_heat_net.heditssep/offboard/tools/executable/main_region_cut_apollo.ccdeletessep/offboard/main_test/main_test_diagonal.cceditdata/config/cfg_ssep.hppdeletessep/offboard/ReadMe.mdeditdata/plan/keb_visualize_data.hppeditdata/ssep/ssep_ec.hppaddssep/protos/README.mddeletessep/offboard/main_test/main_test_zhoushan.cceditssep/coarse_search/legacy_searchers/hybrid_a_star_tt.hdeletessep/data_structures/object.heditssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/keb_optimizer/imv_keb_optimizer.hedittasks/plan/keb_utils.hppeditssep/offboard/generate_scene_data/resample_scene_paths_cli.ccedittasks/plan/keb_utils_core.cppeditCMakeLists.txteditdata/ssep/ex_lane_change_ec.hppadddata/ssep/ssep_scene_constraints.hppeditTesting/routing_transition_test.cppedithmi/draw/draw_map.cppeditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/common/utils/search_guide_body_sweep.hdeletessep/offboard/ssep_activation_sdk.haddssep/test/ssep_scene_planner_test.ccdeletessep/data_structures/ssep_recursion_obstacle.hppeditssep/offboard/scene_replay/README.mdeditdata/ssep/hmi_virtual_obs_line.hppeditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/offboard/ssep_planner_wrapper.cceditssep/ssep_planner.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccaddssep/common/ssep_scene_format.haddssep/coarse_search/search_trace.cceditssep/keb_optimizer/keb_utils.heditssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.heditssep/test/scene_replay_obstacle_inputs_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/maps/ogm.hdeletessep/offboard/conf/ssep.yamleditssep/coarse_search/geometric_search_visualizer.hdeletessep/ssep_heat_net/ssep_heat_net_trt.cceditreplayer/scene_data/generated/plan_frame_member_inputs.jsondeletessep/offboard/main_test/main_test_car.cceditssep/test/CMakeLists.txteditTaskfile.ymldeletessep/protos/object.protoeditdata/ssep/ssep_util.cppeditssep/test/trailer_heuristic_table_test.cceditssep/protos/map_element.protodeletedata/ssep/offline_region_contour_loader.hppdeletessep/offboard/main_test/main_test_qhd.ccdeletessep/ssep_heat_net/ssep_heat_net_trt.hdeletessep/ssep_heat_net/standarization_params.heditssep/maps/ogm_config_utils.ccdeletessep/offboard/demo/src/package.xmldeletessep/offboard/conf/ssep/ssep_imv.yamleditssep/protos/operation_mode.protoeditTesting/path_pair_validation_test.cppedittools/pnc_proto_mapper/schema_lint.pydeletessep/offboard/ssep_input_provider.heditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondeletessep/offboard/start.sheditTesting/ssep_path_corridor_test.cppeditTesting/CMakeLists.txtdeletessep/data_structures/pose_utils.hdeletessep/common/object_manager.cceditssep/offboard/servers/path_repository_vis_html_template.cceditssep/test/search_guide_scene_test.cceditreplayer/scene_data/full_proto_custom_encoder.cppaddproto/ssep_legacy_params.protoeditdata/ssep/field_junction_ec.hppaddssep/offboard/generate_path_repository/path_repository_tool_io.haddtools/pnc_proto_mapper/test_schema_migration.pyeditssep/data_structures/map_element_polyline.haddssep/test/ssep_corpus_fingerprint_runner.ccedithmi/draw/draw_keb_debug.cppdeletessep/offboard/main_test/main_test_dg.cceditssep/coarse_search/evaluator/trailer_search_guide.hdeletessep/offboard/main_test/main_ssep_test.cceditreplayer/scene_data/versioned_compact_decoder.cppeditssep/coarse_search/tutorial/builders-and-scenarios.htmleditssep/offboard/tools/executable/CMakeLists.txteditTesting/hmi_collision_render_test.cppeditTesting/scene_replay_foundation_test.cppeditdata/ssep/bridge_junction_ec.cppeditnode/logic.hppeditreplayer/scene_data/full_proto_custom_encoder.hppeditplan/prepare/prepare_status.cppadddata/ssep/ssep_request_resources.hppdeletedata/ssep/offline_region_contour_loader.cppeditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.heditssep/data_structures/path_repository_manager.cceditdata/ssep/ex_lane_change_ec.cppeditdata/ssep/into_yard_junction_ec.hppeditssep/common/utils/obstacle_polygon_extractor.haddssep/offboard/scene_replay/audit_ssep_dataset.pyadddata/ssep/ssep_file_naming.hppeditdata/plan_frame.hppeditssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.heditssep/scenarios/planner_utils.haddreplayer/scene_data/ssep_parameter_port_contract.mdaddssep/ssep_scene_planner.heditdata/config/cfg_func_sw.hppeditssep/CMakeLists.txtdeletessep/offboard/ssep_input_provider.ccaddssep/offboard/generat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- ssep/test/local_regression/tt_recent_parking_quality.pyssep/test/local_regression/parking_collision_quality.pyssep/test/local_regression/test_tt_reference_cusp_quality.pyssep/test/local_regression/scene_v2.pyssep/test/local_regression/README.mdssep/test/local_regression/scene_test_utils.pyssep/test/local_regression/tt_parking_quality.pyssep/test/local_regression/run_tt_single_parking_case.pyssep/test/local_regression/test_tt_heading_quality.pyssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_scene_audit.pyssep/test/local_regression/test_scene_vis_obstacles.pyssep/test/local_regression/test_replay_input.pyssep/test/local_regression/path_quality.pyssep/test/local_regression/tt_heading_quality.pyssep/test/local_regression/test_tt_recent_parking_quality.pyssep/test/local_regression/test_parking_collision_quality.pyssep/test/local_regression/test_scene_vis_directory.pyssep/test/local_regression/test_scene_v2.pyssep/test/local_regression/remote_replay_cli.pyssep/test/local_regression/test_path_quality.pydocs/ssep_parameter_port_tools.mdssep/test/local_regression/test_raw_replay_cli.pyssep/test/local_regression/test_scene_audit_ui.pyssep/test/local_regression/tt_reverse_priority_tail1_quality.jsonssep/test/local_regression/test_remote_replay_cli.pyssep/test/local_regression/tt_reference_cusp_quality.pyssep/test/local_regression/test_tt_parking_regression.py58e8423db8b2a5f863dd9e27b4ac019ec6df0a851792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep-tools): 迁移二进制回归与独立路径质量检查
Python 质量/HTTP/远端适配读取严格v2 RAW和独立原始Path sidecar，
同时核验实际smooth输出，保留via/marker、beta/曲率presence及原预算。
保留原始障碍线段参与碰撞检查，不批量改写现场语料或manifest后缀。
使用本轮真实CLI和HTTP运行166项测试：165通过，1项缺v2现场数据
跳过；CLI、路径库、场景变换、绘制/可视化实际验收见工具实施记录。
2026-10-19 15:48:26 +080058e8423db8b2a5f863dd9e27b4ac019ec6df0a85feat(ssep-tools): 迁移二进制回归与独立路径质量检查editssep/test/local_regression/test_replay_input.pyeditssep/test/local_regression/tt_recent_parking_quality.pyaddssep/test/local_regression/scene_test_utils.pyeditssep/test/local_regression/tt_reverse_priority_tail1_quality.jsoneditssep/test/local_regression/test_raw_replay_cli.pyeditssep/test/local_regression/run_tt_single_parking_case.pyaddssep/test/local_regression/test_scene_v2.pyeditssep/test/local_regression/test_tt_recent_parking_quality.pyeditssep/test/local_regression/remote_replay_cli.pyaddssep/test/local_regression/scene_v2.pyeditssep/test/local_regression/test_scene_audit_ui.pyeditssep/test/local_regression/path_quality.pyeditssep/test/local_regression/test_parking_collision_quality.pyeditssep/test/local_regression/README.mdeditssep/test/local_regression/parking_collision_quality.pyeditssep/test/local_regression/test_tt_heading_quality.pyeditssep/test/local_regression/test_remote_replay_cli.pyeditssep/test/local_regression/run_ssep_regression.pyadddocs/ssep_parameter_port_tools.mdeditssep/test/local_regression/tt_heading_quality.pyeditssep/test/local_regression/test_path_quality.pyeditssep/test/local_regression/test_scene_vis_directory.pyeditssep/test/local_regression/test_tt_parking_regression.pyeditssep/test/local_regression/test_scene_audit.pyeditssep/test/local_regression/tt_parking_quality.pyeditssep/test/local_regression/test_scene_vis_obstacles.pyeditssep/test/local_regression/test_tt_reference_cusp_quality.pyeditssep/test/local_regression/tt_reference_cusp_quality.py
- ssep/offboard/ssep_replay_workbench/tests/search_trace_test.ccssep/offboard/ssep_replay_workbench/third_party/imgui/imstb_truetype.hssep/offboard/ssep_replay_workbench/app/worker_supervisor.ccssep/offboard/ssep_replay_workbench/recording/frame_overlay.ccssep/offboard/ssep_replay_workbench/editor/map_background_store.ccssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.ccssep/offboard/ssep_replay_workbench/trace/trace_store.ccssep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.ccssep/offboard/ssep_replay_workbench/app/workbench_controller.ccssep/offboard/ssep_replay_workbench/app/workbench_main.ccssep/offboard/ssep_replay_workbench/protocol/framing.ccssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_sdl2.hssep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.hssep/offboard/ssep_replay_workbench/recording/output_path.hssep/offboard/ssep_replay_workbench/editor/editor_interaction_model.ccssep/offboard/ssep_replay_workbench/model/planner_parameter_model.hssep/offboard/ssep_replay_workbench/recording/recording_manifest.hssep/offboard/ssep_replay_workbench/app/gl_runtime.hssep/offboard/ssep_replay_workbench/tests/editor_snap_model_test.ccssep/offboard/ssep_replay_workbench/third_party/imgui/imgui.hssep/offboard/ssep_replay_workbench/tests/trace_format_test.ccssep/offboard/ssep_replay_workbench/tests/workspace_model_test.ccssep/offboard/ssep_replay_workbench/rendering/scene_renderer.hssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_opengl3.hssep/offboard/ssep_replay_workbench/third_party/implot/implot.hssep/offboard/ssep_replay_workbench/tests/recording_timeline_test.ccssep/offboard/ssep_replay_workbench/trace/trace_store.hssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_opengl3.cppssep/offboard/ssep_replay_workbench/editor/map_background_store.hssep/offboard/ssep_replay_workbench/tests/scene_document_io_test.ccssep/offboard/ssep_replay_workbench/tests/output_path_test.ccssep/offboard/ssep_replay_workbench/trace/trace_format.hssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.ccssep/offboard/ssep_replay_workbench/editor/scene_validator.hssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.ccssep/offboard/ssep_replay_workbench/model/vehicle_geometry_semantics.hssep/offboard/ssep_replay_workbench/worker/worker_session.ccssep/offboard/ssep_replay_workbench/third_party/implot/implot.cppssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.ccssep/offboard/ssep_replay_workbench/worker/worker_session.hssep/offboard/ssep_replay_workbench/trace/trace_recorder.hssep/offboard/ssep_replay_workbench/tests/planner_parameter_model_test.ccssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_widgets.cppssep/offboard/ssep_replay_workbench/model/workspace_model.hssep/offboard/ssep_replay_workbench/editor/editor_render_model.ccssep/offboard/ssep_replay_workbench/trace/trace_recorder.ccssep/offboard/ssep_replay_workbench/recording/recording_region.ccssep/offboard/ssep_replay_workbench/editor/editor_snap_model.hssep/offboard/ssep_replay_workbench/editor/edit_types.hssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.hssep/offboard/ssep_replay_workbench/README.mdssep/offboard/ssep_replay_workbench/editor/scene_validator.ccdocs/ssep_parameter_port_workbench.mdssep/offboard/ssep_replay_workbench/trace/trace_format.ccssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_tables.cppssep/offboard/ssep_replay_workbench/recording/recording_timeline.ccssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.ccssep/offboard/ssep_replay_workbench/app/backend_smoke.ccssep/offboard/ssep_replay_workbench/tests/startup_failure_exit_codes.cmakessep/offboard/ssep_replay_workbench/third_party/imgui/imstb_rectpack.hssep/offboard/ssep_replay_workbench/recording/ffmpeg_encoder.hssep/offboard/ssep_replay_workbench/third_party/imgui/imgui.cppssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_draw.cppssep/offboard/ssep_replay_workbench/tests/ffmpeg_encoder_test.ccssep/offboard/ssep_replay_workbench/third_party/imgui/LICENSE.txtssep/offboard/ssep_replay_workbench/tests/double_press_shortcut_test.ccssep/offboard/ssep_replay_workbench/recording/recording_timeline.hssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.hssep/offboard/ssep_replay_workbench/app/workbench_controller.hssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_opengl3_loader.hssep/offboard/ssep_replay_workbench/tests/scene_model_test.ccssep/offboard/ssep_replay_workbench/tests/target_scene_fixture.hssep/offboard/ssep_replay_workbench/tests/reject_removed_capture_option.cmakessep/offboard/ssep_replay_workbench/recording/frame_overlay.hssep/offboard/ssep_replay_workbench/app/worker_supervisor.hssep/offboard/ssep_replay_workbench/recording/recording_region.hssep/offboard/ssep_replay_workben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引入回放编辑工作台并保留目标约束
按来源最终独立目录移植编辑、规划、Trace、worker、播放和录像。
补齐Clone/编辑中via与guide保真、worker任务marker传输和
ReversePriority可缺pass的合法例外，保持原子保存与取消生命周期。
本机OFF/CPU ON/GPU ON分别29/33/33组CTest通过，226/255/256项
实际通过且无skip；GPU用例在原5秒预算内实际双向搜索并完成优化。
22个vendor文件逐字节保持上游状态（包括原有行尾空格）。
2026-10-19 15:48:26 +080088339f566008072d05052059450726749d9e6c76feat(ssep-workbench): 引入回放编辑工作台并保留目标约束addssep/offboard/ssep_replay_workbench/README.mdaddssep/offboard/ssep_replay_workbench/app/workbench_controller.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_sdl2.cppaddssep/offboard/ssep_replay_workbench/worker/worker_main.ccaddssep/offboard/ssep_replay_workbench/model/planner_parameter_model.ccaddssep/offboard/ssep_replay_workbench/tests/trace_format_test.ccaddssep/offboard/ssep_replay_workbench/recording/recording_timeline.ccaddssep/offboard/ssep_replay_workbench/model/scene_model.haddssep/offboard/ssep_replay_workbench/editor/scene_validator.ccaddssep/offboard/ssep_replay_workbench/rendering/scene_renderer.haddssep/offboard/ssep_replay_workbench/tests/trace_recorder_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imstb_textedit.haddssep/offboard/ssep_replay_workbench/app/gl_runtime.haddssep/offboard/ssep_replay_workbench/tests/workspace_model_test.ccaddssep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.ccaddssep/offboard/ssep_replay_workbench/tests/gl_runtime_font_test.ccaddssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.ccaddssep/offboard/ssep_replay_workbench/model/vehicle_geometry_semantics.haddssep/offboard/ssep_replay_workbench/editor/editor_interaction_model.haddssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_tables.cppaddssep/offboard/ssep_replay_workbench/tests/protocol_framing_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/LICENSE.txtaddssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.ccaddssep/offboard/ssep_replay_workbench/third_party/implot/implot.haddssep/offboard/ssep_replay_workbench/editor/editor_render_model.ccaddssep/offboard/ssep_replay_workbench/tests/trace_store_test.ccaddssep/offboard/ssep_replay_workbench/trace/trace_store.ccaddssep/offboard/ssep_replay_workbench/protocol/replay_debug.protoaddssep/offboard/ssep_replay_workbench/third_party/implot/implot.cppaddssep/offboard/ssep_replay_workbench/model/workspace_model.ccadddocs/ssep_parameter_port_workbench.mdaddssep/offboard/ssep_replay_workbench/recording/ffmpeg_encoder.ccaddssep/offboard/ssep_replay_workbench/app/worker_supervisor.haddssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.ccaddssep/offboard/ssep_replay_workbench/editor/map_background_store.haddssep/offboard/ssep_replay_workbench/recording/output_path.haddssep/offboard/ssep_replay_workbench/app/workbench_main.ccaddssep/offboard/ssep_replay_workbench/editor/scene_document_io.haddssep/offboard/ssep_replay_workbench/protocol/framing.haddssep/offboard/ssep_replay_workbench/recording/recording_region.ccaddssep/offboard/ssep_replay_workbench/tests/no_text_scene_references.cmakeaddssep/offboard/ssep_replay_workbench/tests/reject_removed_capture_option.cmakeaddssep/offboard/ssep_replay_workbench/third_party/imgui/imgui.haddssep/offboard/ssep_replay_workbench/tests/search_trace_test.ccaddssep/offboard/ssep_replay_workbench/tests/path_repository_transform_test.ccaddssep/offboard/ssep_replay_workbench/trace/trace_recorder.ccaddssep/offboard/ssep_replay_workbench/recording/ffmpeg_encoder.haddssep/offboard/ssep_replay_workbench/recording/recording_manifest.haddssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_opengl3.cppaddssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_draw.cppaddssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.haddssep/offboard/ssep_replay_workbench/editor/editable_scene_document.ccaddssep/offboard/ssep_replay_workbench/third_party/implot/LICENSEaddssep/offboard/ssep_replay_workbench/trace/trace_recorder.haddssep/offboard/ssep_replay_workbench/app/workbench_controller.haddssep/offboard/ssep_replay_workbench/tests/ffmpeg_encoder_test.ccaddssep/offboard/ssep_replay_workbench/tests/worker_session_test.ccaddssep/offboard/ssep_replay_workbench/tests/scene_model_test.ccaddssep/offboard/ssep_replay_workbench/editor/editor_snap_model.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_sdl2.haddssep/offboard/ssep_replay_workbench/tests/double_press_shortcut_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imconfig.haddssep/offboard/ssep_replay_workbench/tests/startup_failure_exit_codes.cmakeaddssep/offboard/ssep_replay_workbench/recording/frame_overlay.haddssep/offboard/ssep_replay_workbench/editor/editor_snap_model.haddssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.haddssep/offboard/ssep_replay_workbench/worker/worker_session.ccaddssep/offboard/ssep_replay_workbench/recording/recording_region.haddssep/offboard/ssep_replay_workbench/tests/recording_region_test.ccaddssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.ccaddssep/offboard/ssep_replay_workbench/model/workspace_model.haddssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.ccaddssep/offboard/ssep_replay_workbench/third_party/implot/implot_internal.haddssep/offboard/ssep_replay_workbench/editor/editable_scene_document.haddssep/offboard/ssep_replay_workbench/tests/frame_overlay_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_widgets.cppaddssep/offboard/ssep_replay_workbench/trace/trace_store.haddssep/offboard/ssep_replay_workbench/app/double_press_shortcut.haddssep/offboard/ssep_replay_workbench/model/scene_model.ccaddssep/offboard/ssep_replay_workbench/app/imgui_user_config.haddssep/offboard/ssep_replay_workbench/recording/output_path.ccaddssep/offboard/ssep_replay_workbench/third_party/UPSTREAM.mdaddssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_opengl3_loader.haddssep/offboard/ssep_replay_workbench/worker/worker_session.haddssep/offboard/ssep_replay_workbench/recording/recording_manifest.ccaddssep/offboard/ssep_replay_workbench/editor/map_background_store.ccaddssep/offboard/ssep_replay_workbench/tests/planner_parameter_model_test.ccaddssep/offboard/ssep_replay_workbench/tests/target_scene_fixture.haddssep/offboard/ssep_replay_workbench/editor/editor_interaction_model.ccaddssep/offboard/ssep_replay_workbench/editor/scene_document_io.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imgui.cppaddssep/offboard/ssep_replay_workbench/rendering/scene_renderer.ccaddssep/offboard/ssep_replay_workbench/tests/recording_timeline_test.ccaddssep/offboard/ssep_replay_workbench/app/worker_supervisor.ccaddssep/offboard/ssep_replay_workbench/editor/scene_validator.haddssep/offboard/ssep_replay_workbench/tests/scene_document_io_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imstb_truetype.haddssep/offboard/ssep_replay_workbench/editor/editor_render_model.haddssep/offboard/ssep_replay_workbench/trace/trace_format.ccaddssep/offboard/ssep_replay_workbench/trace/trace_format.haddssep/offboard/ssep_replay_workbench/third_party/imgui/backends/imgui_impl_opengl3.haddssep/offboard/ssep_replay_workbench/recording/recording_timeline.haddssep/offboard/ssep_replay_workbench/tests/output_path_test.ccaddssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.ccaddssep/offboard/ssep_replay_workbench/tests/worker_supervisor_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imgui_internal.haddssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccaddssep/offboard/ssep_replay_workbench/app/backend_smoke.ccaddssep/offboard/ssep_replay_workbench/protocol/framing.ccaddssep/offboard/ssep_replay_workbench/model/planner_parameter_model.haddssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.ccaddssep/offboard/ssep_replay_workbench/third_party/imgui/imstb_rectpack.haddssep/offboard/ssep_replay_workbench/editor/edit_types.haddssep/offboard/ssep_replay_workbench/CMakeLists.txtaddssep/offboard/ssep_replay_workbench/tests/recording_manifest_test.ccaddssep/offboard/ssep_replay_workbench/third_party/implot/implot_items.cppaddssep/offboard/ssep_replay_workbench/app/gl_runtime.ccaddssep/offboard/ssep_replay_workbench/recording/frame_overlay.ccaddssep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.haddssep/offboard/ssep_replay_workbench/tests/editor_snap_model_test.cc
- scripts/ssep_tool/ssep.pyconfig/config_imv/ssep.yamlconfig/config_truck/config_truck_reverse/ssep.yamlscripts/ssep_tool/__pycache__/ssep.cpython-38.pycconfig/config_car/ssep.yamlscripts/ssep_tool/Readme.mdconfig/config_truck/ssep.yamlscripts/ssep_tool/ssep_tool.pyscripts/ssep_tool/1/ssep_tool.pyscripts/ssep_tool/ssep.uib2e8a6110cb23356553a8fba5c6d7a6dd149cefa1792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autochore(ssep): 清理退役配置与旧标定脚本
删除旧在线标定脚本和不再有reader的配置键。四份ssep.yaml的
所有保留叶子值与c3109a22f逐项一致，不重新标定目标分支参数。
相关生产入口和构建依赖已在v2联动提交退役，主工程与工具验收通过。
2026-10-19 15:48:26 +0800b2e8a6110cb23356553a8fba5c6d7a6dd149cefachore(ssep): 清理退役配置与旧标定脚本editconfig/config_imv/ssep.yamleditconfig/config_truck/ssep.yamldeletescripts/ssep_tool/1/ssep_tool.pyeditconfig/config_car/ssep.yamleditconfig/config_truck/config_truck_reverse/ssep.yamldeletescripts/ssep_tool/ssep.pydeletescripts/ssep_tool/ssep_tool.pydeletescripts/ssep_tool/ssep.uideletescripts/ssep_tool/Readme.mddeletescripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
- docs/ssep_parameter_port_online.mddocs/ssep_parameter_port_initialization.mddocs/ssep_parameter_port_report.mddocs/ssep_parameter_port_source_matrix.mdf4bc30bd503fd6278e6dc00d4c85a5be2f32f8461792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 汇总本轮实施验收与来源能力落地
2026-10-19 15:48:26 +0800f4bc30bd503fd6278e6dc00d4c85a5be2f32f846docs(ssep): 汇总本轮实施验收与来源能力落地editdocs/ssep_parameter_port_online.mdeditdocs/ssep_parameter_port_source_matrix.mdeditdocs/ssep_parameter_port_initialization.mdeditdocs/ssep_parameter_port_report.md
- Testing/live_compact_version_test.cppreplayer/scene_data/compact_ssep_ec_geometry_codec.hppreplayer/scene_data/live_compact_ingress.cppdocs/ssep_parameter_port_report.mdTesting/compact_ssep_ec_geometry_test.cppTesting/scene_replay_foundation_test.cpp858146044cee84b33ac88e568ba083e93daf53c21792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(replay): 传递live SSEP帧时间基准并禁止省略解码参数
2026-10-19 15:48:26 +0800858146044cee84b33ac88e568ba083e93daf53c2fix(replay): 传递live SSEP帧时间基准并禁止省略解码参数editdocs/ssep_parameter_port_report.mdeditTesting/compact_ssep_ec_geometry_test.cppeditTesting/live_compact_version_test.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_ssep_ec_geometry_codec.hppeditreplayer/scene_data/live_compact_ingress.cpp
- docs/ssep_parameter_port_report.mddata/ssep/ssep_ec.cppTesting/CMakeLists.txtTesting/ssep_map_query_range_test.cpp784367b0ad091324db247a715b2030816b8098441792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 恢复地图查询覆盖并验证远处停车约束
2026-10-19 15:48:26 +0800784367b0ad091324db247a715b2030816b809844fix(ssep): 恢复地图查询覆盖并验证远处停车约束editdata/ssep/ssep_ec.cppeditTesting/CMakeLists.txtaddTesting/ssep_map_query_range_test.cppeditdocs/ssep_parameter_port_report.md
- docs/ssep_parameter_port_report.mdTesting/ssep_lane_geometry_test.cppTesting/CMakeLists.txtssep/common/utils/map_element_utils.hpp17abab95bf7daba8b54cf159f8c3e672c521cebe1792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 保留NO_TURN车道完整几何与路径库匹配语义
2026-10-19 15:48:26 +080017abab95bf7daba8b54cf159f8c3e672c521cebefix(ssep): 保留NO_TURN车道完整几何与路径库匹配语义editdocs/ssep_parameter_port_report.mdeditTesting/CMakeLists.txtaddTesting/ssep_lane_geometry_test.cppeditssep/common/utils/map_element_utils.hpp
- Testing/live_compact_version_test.cppTesting/compact_future_numeric_compat_test.cppddd3b2bcec88926951e5205c6d4dfa65d3c19ec51792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autotest(replay): 补齐时间基准调用并验证拒绝后delta恢复
2026-10-19 15:48:26 +0800ddd3b2bcec88926951e5205c6d4dfa65d3c19ec5test(replay): 补齐时间基准调用并验证拒绝后delta恢复editTesting/live_compact_version_test.cppeditTesting/compact_future_numeric_compat_test.cpp
- ssep/test/local_regression/path_quality.pydocs/ssep_parameter_port_report.mdssep/test/local_regression/test_published_imv_quality.pyssep/test/local_regression/scene_v2.pyssep/test/local_regression/run_tt_single_parking_case.pyssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_tt_parking_regression.pyssep/offboard/scene_replay/scene_replay_cli_integration_test.py8d4a5dd10853a9b8b1e6baf9e10066d1304540381792396106000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep-tools): 完整验证实际下发轨迹与原始beta对应关系
2026-10-19 15:48:26 +08008d4a5dd10853a9b8b1e6baf9e10066d130454038fix(ssep-tools): 完整验证实际下发轨迹与原始beta对应关系editdocs/ssep_parameter_port_report.mdaddssep/test/local_regression/test_published_imv_quality.pyeditssep/test/local_regression/scene_v2.pyeditssep/test/local_regression/run_tt_single_parking_case.pyeditssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/scene_replay/scene_replay_cli_integration_test.pyeditssep/test/local_regression/test_tt_parking_regression.py
- docs/ssep_parameter_port_report.mdreplayer/algorithm_replay/stage_task_replay_engine.cppdata/ssep/ssep_request_resources.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonTesting/ssep_replay_contract_test.cppdata/ssep/ssep_ec.cppTesting/CMakeLists.txt75139a155c05d7fa6f4e72d2795d53385b890fe41792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(replay): 明确上报实际执行中的SSEP输入不支持错误
2026-10-19 15:48:32 +080075139a155c05d7fa6f4e72d2795d53385b890fe4fix(replay): 明确上报实际执行中的SSEP输入不支持错误editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/ssep_request_resources.hppaddTesting/ssep_replay_contract_test.cppeditdata/ssep/ssep_ec.cppeditdocs/ssep_parameter_port_report.mdeditTesting/CMakeLists.txteditreplayer/algorithm_replay/stage_task_replay_engine.cpp
- docs/ssep_parameter_port_report.md538b7579a9a0518f36405f2b4de664c022d2269e1792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 记录五项审查修复及本轮构建回归结果
2026-10-19 15:48:32 +0800538b7579a9a0518f36405f2b4de664c022d2269edocs(ssep): 记录五项审查修复及本轮构建回归结果editdocs/ssep_parameter_port_report.md
- docs/ssep_workbench_visualization_20261014.md938595c13ce0d5649304528c9d2214f8e6093c341792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(workbench): 固定可视化补全阶段与字段覆盖表
2026-10-19 15:48:32 +0800938595c13ce0d5649304528c9d2214f8e6093c34docs(workbench): 固定可视化补全阶段与字段覆盖表adddocs/ssep_workbench_visualization_20261014.md
- ssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.ccssep/offboard/ssep_replay_workbench/app/worker_supervisor.ccssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.ccssep/offboard/ssep_replay_workbench/recording/frame_overlay.ccssep/offboard/ssep_replay_workbench/worker/worker_session.ccssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.ccssep/offboard/ssep_replay_workbench/model/repository_visualization.hssep/offboard/ssep_replay_workbench/app/workbench_controller.ccssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.ccssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.hssep/offboard/ssep_replay_workbench/app/workbench_main.ccssep/offboard/ssep_replay_workbench/worker/diagnostic_raster.ccssep/offboard/ssep_replay_workbench/app/workbench_controller.hssep/offboard/ssep_replay_workbench/tests/scene_model_test.ccssep/offboard/ssep_replay_workbench/tests/repository_visualization_test.ccssep/offboard/ssep_replay_workbench/rendering/scene_renderer.ccssep/offboard/ssep_replay_workbench/tests/diagnostic_raster_test.ccssep/offboard/ssep_replay_workbench/worker/worker_session.hssep/offboard/ssep_replay_workbench/app/worker_supervisor.hssep/offboard/ssep_replay_workbench/rendering/bitmap_font.hssep/offboard/ssep_replay_workbench/model/repository_visualization.ccssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccssep/offboard/ssep_replay_workbench/worker/diagnostic_raster.hssep/offboard/ssep_replay_workbench/tests/path_visualization_test.ccssep/offboard/ssep_replay_workbench/model/path_visualization.hssep/offboard/ssep_replay_workbench/tests/worker_supervisor_test.ccssep/ssep_scene_planner.hssep/offboard/ssep_replay_workbench/tests/worker_session_test.ccssep/offboard/ssep_replay_workbench/rendering/scene_renderer.hssep/offboard/ssep_replay_workbench/editor/editor_render_model.ccssep/offboard/ssep_replay_workbench/protocol/replay_debug.protossep/offboard/ssep_replay_workbench/editor/edit_types.hssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.hssep/ssep_scene_planner.ccssep/offboard/ssep_replay_workbench/model/path_visualization.ccssep/offboard/ssep_replay_workbench/CMakeLists.txtssep/offboard/ssep_replay_workbench/model/layer_ids.hssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.ccssep/offboard/ssep_replay_workbench/model/scene_model.ccssep/offboard/ssep_replay_workbench/model/scene_model.hssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.ccssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.ccssep/offboard/ssep_replay_workbench/editor/editor_render_model.hc2bdbbe453065d98bd20dfc8dfd5aeb0053b69121792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(workbench): 统一可视化接口并补齐输入图层
按未上线版本统一切换v4私有协议、模型和worker，补齐typed图层、
via/guide容差与属性、地图分类、独立bounds、轮角及渲染显隐。
共享转换、路径库预览及按需构图诊断的数据接口一并原子接通，
避免GUI/worker在分阶段提交间使用不同结构；后续提交接入各界面。
新增对象拾取、填充、标签、栅格、来源/方向语义和预算验证。
定向模型/渲染/worker测试通过；本机GPU真实搜索可采集两类OGM。
当前最终实现的OFF/CPU/GPU全套已验证，阶段GUI快照另经真实编译参数语法检查。
2026-10-19 15:48:32 +0800c2bdbbe453065d98bd20dfc8dfd5aeb0053b6912feat(workbench): 统一可视化接口并补齐输入图层editssep/offboard/ssep_replay_workbench/tests/worker_supervisor_test.ccaddssep/offboard/ssep_replay_workbench/model/path_visualization.cceditssep/offboard/ssep_replay_workbench/app/worker_supervisor.cceditssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.cceditssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.cceditssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.cceditssep/offboard/ssep_replay_workbench/protocol/replay_debug.protoeditssep/offboard/ssep_replay_workbench/worker/worker_session.cceditssep/offboard/ssep_replay_workbench/editor/editor_render_model.heditssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.ccaddssep/offboard/ssep_replay_workbench/model/layer_ids.heditssep/offboard/ssep_replay_workbench/tests/scene_model_test.cceditssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.heditssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.cceditssep/offboard/ssep_replay_workbench/editor/editor_render_model.ccaddssep/offboard/ssep_replay_workbench/tests/repository_visualization_test.cceditssep/offboard/ssep_replay_workbench/app/workbench_main.cceditssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.heditssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.cceditssep/offboard/ssep_replay_workbench/rendering/scene_renderer.haddssep/offboard/ssep_replay_workbench/model/repository_visualization.heditssep/offboard/ssep_replay_workbench/rendering/scene_renderer.ccaddssep/offboard/ssep_replay_workbench/model/repository_visualization.ccaddssep/offboard/ssep_replay_workbench/tests/diagnostic_raster_test.cceditssep/offboard/ssep_replay_workbench/CMakeLists.txtaddssep/offboard/ssep_replay_workbench/rendering/bitmap_font.heditssep/offboard/ssep_replay_workbench/app/workbench_controller.heditssep/ssep_scene_planner.heditssep/offboard/ssep_replay_workbench/recording/frame_overlay.cceditssep/offboard/ssep_replay_workbench/editor/edit_types.heditssep/offboard/ssep_replay_workbench/app/workbench_controller.cceditssep/offboard/ssep_replay_workbench/model/scene_model.haddssep/offboard/ssep_replay_workbench/worker/diagnostic_raster.heditssep/offboard/ssep_replay_workbench/worker/worker_session.haddssep/offboard/ssep_replay_workbench/worker/diagnostic_raster.cceditssep/ssep_scene_planner.cceditssep/offboard/ssep_replay_workbench/app/worker_supervisor.haddssep/offboard/ssep_replay_workbench/model/path_visualization.heditssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.cceditssep/offboard/ssep_replay_workbench/tests/editor_document_test.cceditssep/offboard/ssep_replay_workbench/tests/worker_session_test.ccaddssep/offboard/ssep_replay_workbench/tests/path_visualization_test.cceditssep/offboard/ssep_replay_workbench/model/scene_model.cc
- ssep/offboard/ssep_replay_workbench/app/workbench_main.cc3afcf992eff35edce95b932728de2308b8ec95b71792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(workbench): 展示完整路径属性并联动采样与播放
2026-10-19 15:48:32 +08003afcf992eff35edce95b932728de2308b8ec95b7feat(workbench): 展示完整路径属性并联动采样与播放editssep/offboard/ssep_replay_workbench/app/workbench_main.cc
- ssep/offboard/ssep_replay_workbench/app/workbench_main.cc4007de58b89c88a3982bd04359442efbcb5637861792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(workbench): 增加快照路径库预览及录制诊断详情
2026-10-19 15:48:32 +08004007de58b89c88a3982bd04359442efbcb563786feat(workbench): 增加快照路径库预览及录制诊断详情editssep/offboard/ssep_replay_workbench/app/workbench_main.cc
- ssep/offboard/ssep_replay_workbench/app/workbench_main.ccd475d442689c325f2186fc10f6da6d8e262cb5651792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(workbench): 接入有效约束与栅格采集查看界面
2026-10-19 15:48:32 +0800d475d442689c325f2186fc10f6da6d8e262cb565feat(workbench): 接入有效约束与栅格采集查看界面editssep/offboard/ssep_replay_workbench/app/workbench_main.cc
- ssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.ccssep/offboard/ssep_replay_workbench/tests/editor_snap_model_test.ccssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.ccssep/ssep_scene_planner.hssep/offboard/ssep_replay_workbench/app/workbench_controller.ccssep/offboard/ssep_replay_workbench/editor/editor_render_model.ccssep/offboard/ssep_replay_workbench/app/workbench_main.ccssep/offboard/ssep_replay_workbench/editor/editor_snap_model.hssep/offboard/ssep_replay_workbench/tests/scene_model_test.ccssep/ssep_scene_planner.ccssep/offboard/ssep_replay_workbench/model/scene_model.ccssep/offboard/ssep_replay_workbench/editor/editor_snap_model.ccssep/offboard/ssep_replay_workbench/model/scene_model.hssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.ccssep/offboard/ssep_replay_workbench/editor/editor_render_model.h01ccbec90506e10e5ffbbbe860647bad2a2f2b971792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(workbench): 对齐输入显隐编辑同步和诊断生命周期
2026-10-19 15:48:32 +080001ccbec90506e10e5ffbbbe860647bad2a2f2b97fix(workbench): 对齐输入显隐编辑同步和诊断生命周期editssep/offboard/ssep_replay_workbench/editor/editor_snap_model.cceditssep/offboard/ssep_replay_workbench/editor/editor_render_model.cceditssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.cceditssep/ssep_scene_planner.cceditssep/offboard/ssep_replay_workbench/app/workbench_controller.cceditssep/offboard/ssep_replay_workbench/tests/scene_model_test.cceditssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.cceditssep/offboard/ssep_replay_workbench/editor/editor_snap_model.heditssep/ssep_scene_planner.heditssep/offboard/ssep_replay_workbench/model/scene_model.heditssep/offboard/ssep_replay_workbench/editor/editor_render_model.heditssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.cceditssep/offboard/ssep_replay_workbench/model/scene_model.cceditssep/offboard/ssep_replay_workbench/tests/editor_snap_model_test.cceditssep/offboard/ssep_replay_workbench/app/workbench_main.cceditssep/offboard/ssep_replay_workbench/tests/editor_document_test.cc
- docs/ssep_workbench_visualization_20261014.mdssep/offboard/ssep_replay_workbench/README.md33c708b0bf3c1d0485256088630d30d1ff55e6101792396112000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(workbench): 记录可视化覆盖和本机三模式验收结果
2026-10-19 15:48:32 +080033c708b0bf3c1d0485256088630d30d1ff55e610docs(workbench): 记录可视化覆盖和本机三模式验收结果editdocs/ssep_workbench_visualization_20261014.mdeditssep/offboard/ssep_replay_workbench/README.md
- Testing/generated_variant_config_patch_test.cppreplayer/scene_data/compact_replay_session.cppssep/test/local_regression/tt_recent_parking_quality.pyssep/offboard/generate_scene_data/scene_transform_integration_test.pyssep/test/local_regression/scene_test_utils.pyreplayer/scene_data/compact_proto_codec.hppssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_scene_vis_obstacles.pyreplayer/scene_data/compact_snapshot_stream_decoder.cppreplayer/scene_data/compact_scene_archive_codec.cppssep/offboard/scene_replay/scene_replay_cli_integration_test.pyssep/offboard/servers/scene_vis_html_template.ccdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdtools/pnc_proto_mapper/migrations/ssep_v2_scene_descriptor.pbssep/test/local_regression/test_published_imv_quality.pyreplayer/scene_data/compact_custom_field_proto_codec.cppssep/test/local_regression/test_parking_collision_quality.pyssep/offboard/ssep_planner_wrapper.hssep/test/local_regression/test_scene_v2.pydata/ssep/ssep_ec.cppssep/test/local_regression/test_path_quality.pyreplayer/scene_data/generated/compact_scene_descriptor.pbssep/test/scene_preprocessor_test.ccTesting/ssep_replay_pipeline_test.cppreplayer/scene_data/compact_numeric_policy.yamlTaskfile.ymlTesting/ssep_replay_contract_test.cppssep/protos/scene.protoreplayer/scene_data/live_compact_ingress.cpptools/pnc_proto_mapper/test_schema_migration.pyssep/test/proto_converters_test.ccssep/offboard/ssep_replay_workbench/editor/scene_document_io.ccreplayer/scene_data/compact_numeric_leaf_contract.csvssep/test/local_regression/tt_reference_cusp_quality.pydocs/pnc_algorithm_replay/plan_frame_field_workflow.mdssep/test/local_regression/test_tt_parking_regression.pyssep/protos/README.mdssep/test/local_regression/parking_collision_quality.pyssep/test/local_regression/test_tt_reference_cusp_quality.pyreplayer/scene_data/generated/compact_exact_numeric_visitor.cppssep/test/local_regression/README.mdssep/test/local_regression/scene_v2.pyssep/README.mdssep/test/local_regression/tt_parking_quality.pyssep/offboard/ssep_planner_wrapper.ccssep/test/local_regression/run_tt_single_parking_case.pyssep/offboard/ssep_replay_workbench/worker/worker_session.cctools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsonssep/test/local_regression/test_tt_heading_quality.pyssep/test/local_regression/test_scene_audit.pyssep/test/local_regression/test_scene_format.pyssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.ccreplayer/scene_data/compatibility_gateway.hppssep/test/local_regression/test_replay_input.pyssep/test/local_regression/path_quality.pyssep/test/local_regression/tt_heading_quality.pyssep/offboard/generate_scene_data/trim_scene_paths_cli.ccssep/common/ssep_scene_format.hssep/offboard/servers/test_heading_diagnostics.jsssep/offboard/generate_scene_data/resample_scene_paths_cli.cctools/pnc_proto_mapper/test_ssep_scene_v3.pyssep/test/local_regression/test_tt_recent_parking_quality.pyssep/common/utils/scene_preprocessor.hTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/offboard/servers/scene_audit.hssep/test/local_regression/remote_replay_cli.pyssep/common/utils/scene_frame_visualization.hssep/offboard/scene_replay/README.mdssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccTesting/live_compact_version_test.cppreplayer/scene_data/generated/plan_frame_field_roles.jsontools/pnc_proto_mapper/schema_lint.pyssep/offboard/servers/scene_editor_html_template.ccssep/common/utils/scene_frame_visualization.ccssep/offboard/servers/scene_editor_server.ccssep/test/local_regression/test_raw_replay_cli.pyssep/offboard/ssep_replay_workbench/tests/worker_supervisor_test.ccssep/offboard/scene_replay/replay_scene_frame_cli.ccTesting/ssep_raw_scene_geometry_test.cppssep/offboard/generate_scene_data/transform_to_body_frame_cli.ccssep/test/local_regression/scene_format.pyreplayer/scene_data/ssep_parameter_port_contract.mdreplayer/scene_data/plan_frame_nested_persistence_review.yamlssep/offboard/ssep_replay_workbench/README.mdssep/offboard/ssep_replay_workbench/editor/scene_validator.ccreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbc294d6946e8c0c8590b6b4a8ee8819577a7314241792396133000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 按语义重排场景字段并升级 v3 协议
将 AnnotatedSceneFrame 的 36 个顶层字段按用途连续编号，保留字段类型、presence 和业务语义。同步生产端、回放、编辑器和 Python 工具，采用场景 v3 / Compact encoding 9，拒绝旧 SSEP RAW 并保留非 SSEP 历史读取。
更新生成合同、数值叶子清单及显式破坏性变更检查，保留历史 baseline。修复编辑器写死路径库字段号的校验，增加冻结 v2 描述符对照和版本边界回归。
验证：在线及回放程序编译通过；568 项 C++ 回归通过、6 项跳过；Python 回归 167 项通过、12 项跳过；生成物、数值审计和 v3 合同检查通过。GPU 回放未验证：192.168.30.80 SSH 连接超时。
2026-10-19 15:48:53 +0800c294d6946e8c0c8590b6b4a8ee8819577a731424refactor(ssep): 按语义重排场景字段并升级 v3 协议editssep/offboard/generate_scene_data/trim_scene_paths_cli.cceditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdaddtools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsoneditssep/test/local_regression/test_tt_recent_parking_quality.pyeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/test/local_regression/test_scene_vis_obstacles.pyeditssep/README.mdeditdata/ssep/ssep_ec.cppeditssep/offboard/servers/scene_editor_server.cceditssep/offboard/servers/scene_audit.haddtools/pnc_proto_mapper/test_ssep_scene_v3.pyeditreplayer/scene_data/compact_numeric_leaf_contract.csveditssep/test/local_regression/tt_parking_quality.pyeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/test/local_regression/run_tt_single_parking_case.pyeditreplayer/scene_data/compact_scene_archive_codec.cppeditreplayer/scene_data/compatibility_gateway.hppeditssep/offboard/scene_replay/README.mdeditssep/offboard/servers/scene_editor_html_template.cceditssep/offboard/ssep_replay_workbench/editor/scene_validator.cceditssep/test/local_regression/path_quality.pyeditssep/test/local_regression/tt_heading_quality.pyeditssep/offboard/ssep_replay_workbench/editor/scene_document_io.cceditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_proto_codec.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/generated_variant_config_patch_test.cppeditssep/offboard/servers/test_heading_diagnostics.jseditTesting/ssep_replay_contract_test.cppeditssep/offboard/scene_replay/scene_replay_cli_integration_test.pyeditssep/test/local_regression/test_raw_replay_cli.pyeditssep/offboard/ssep_replay_workbench/tests/worker_supervisor_test.cceditssep/common/utils/scene_preprocessor.heditreplayer/scene_data/plan_frame_nested_persistence_review.yamleditssep/test/local_regression/test_tt_parking_regression.pyaddssep/test/local_regression/scene_format.pyedittools/pnc_proto_mapper/schema_lint.pyeditssep/test/local_regression/test_tt_heading_quality.pyeditreplayer/scene_data/live_compact_ingress.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditssep/test/scene_preprocessor_test.cceditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditssep/offboard/ssep_replay_workbench/worker/worker_session.cceditssep/offboard/ssep_replay_workbench/tests/editor_document_test.cceditssep/test/local_regression/README.mdeditssep/test/local_regression/scene_test_utils.pyeditssep/test/local_regression/test_parking_collision_quality.pyeditTesting/live_compact_version_test.cppeditssep/offboard/generate_scene_data/resample_scene_paths_cli.cceditreplayer/scene_data/ssep_parameter_port_contract.mdeditssep/offboard/ssep_planner_wrapper.heditssep/test/local_regression/remote_replay_cli.pyaddssep/test/local_regression/test_scene_format.pyaddtools/pnc_proto_mapper/migrations/ssep_v2_scene_descriptor.pbeditTaskfile.ymleditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/test/local_regression/parking_collision_quality.pyeditssep/test/local_regression/test_published_imv_quality.pyeditssep/offboard/generate_scene_data/transform_to_body_frame_cli.cceditreplayer/scene_data/compact_replay_session.cppeditssep/protos/scene.protodeletessep/test/local_regression/scene_v2.pyeditssep/test/local_regression/run_ssep_regression.pyeditssep/test/local_regression/tt_recent_parking_quality.pyeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditssep/offboard/servers/scene_vis_html_template.cceditssep/common/ssep_scene_format.heditssep/offboard/generate_scene_data/scene_transform_integration_test.pyeditssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.cceditTesting/ssep_replay_pipeline_test.cppeditssep/test/local_regression/test_replay_input.pyeditTesting/ssep_raw_scene_geometry_test.cppedittools/pnc_proto_mapper/test_schema_migration.pydeletessep/test/local_regression/test_scene_v2.pyeditssep/test/local_regression/test_tt_reference_cusp_quality.pyeditreplayer/scene_data/plan_frame_field_roles.csveditssep/common/utils/scene_frame_visualization.cceditssep/common/utils/scene_frame_visualization.heditssep/offboard/ssep_planner_wrapper.cceditssep/protos/README.mdeditssep/test/local_regression/test_scene_audit.pyeditssep/test/proto_converters_test.cceditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditssep/test/local_regression/tt_reference_cusp_quality.pyeditssep/offboard/ssep_replay_workbench/README.mdeditreplayer/scene_data/compact_snapshot_stream_decoder.cppeditssep/test/local_regression/test_path_quality.py
- AGENTS.md36c7e209197c3425d21808fa79c580818a136f751792396133000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(pnc): 优先使用本机 GPU 开展编译和验证
本机 GPU 不可用或环境无法满足验证要求时再使用 192.168.30.80，并记录切换原因。保留测试授权、独立工作目录和实际 CPU/GPU 后端报告要求。
本机验证：RTX 4060，驱动 535.54.03，CUDA toolkit 11.4。GPU 采样 7 项、碰撞检测 12 项、数据转换 8 项全部通过。两个重新生成的 v3 合成场景（seed 0/42）通过当前 PlanScene 执行实际 GPU 双向搜索，均得到 SMOOTH_SUCCESS，粗路径 19 点、下发平滑路径 17 点；输入保持不变，输出版本和随机种子 presence 正确。日志位于 /tmp/pnc_local_gpu_validation/。
2026-10-19 15:48:53 +080036c7e209197c3425d21808fa79c580818a136f75docs(pnc): 优先使用本机 GPU 开展编译和验证editAGENTS.md
- ssep/offboard/ssep_planner_wrapper.ccssep/common/utils/scene_frame_visualization.ccssep/test/scene_preprocessor_test.ccreplayer/scene_data/compact_proto_codec.hppssep/offboard/servers/scene_editor_server.ccTesting/ssep_raw_scene_geometry_test.cppssep/offboard/generate_scene_data/trim_scene_paths_cli.ccssep/common/ssep_scene_format.hssep/offboard/ssep_replay_workbench/editor/scene_document_io.ccssep/offboard/generate_scene_data/resample_scene_paths_cli.ccreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/offboard/ssep_planner_wrapper.hssep/common/utils/scene_preprocessor.ccssep/offboard/ssep_replay_workbench/editor/scene_validator.ccdata/ssep/ssep_ec.cppssep/offboard/servers/scene_audit.h48544ac3a1529dc619c1a510a586f0a1099644431792396133000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 统一场景版本校验并精简重复逻辑
各 C++ 输入边界复用 ValidateSsepSceneFormat，统一缺失和不支持版本的诊断。删除 Compact Candidate 的重复版本判断、路径库工具的前置重复检查及规划包装器的多余转发层，保留活跃请求必须携带 RAW 的要求和原有错误状态。协议及随机种子语义不变。
验证：在线及回放目标编译通过；基础回放 436 项通过、6 项可选数据测试跳过；SSEP、编辑器及版本边界回归通过。五个离线工具通过 C++ 编译检查；本机 RTX 4060 上两个合成 v3 场景实际 GPU 搜索成功。
2026-10-19 15:48:53 +080048544ac3a1529dc619c1a510a586f0a109964443refactor(ssep): 统一场景版本校验并精简重复逻辑editssep/offboard/ssep_planner_wrapper.cceditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/ssep_replay_workbench/editor/scene_document_io.cceditssep/common/utils/scene_frame_visualization.cceditTesting/ssep_raw_scene_geometry_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditssep/offboard/generate_scene_data/trim_scene_paths_cli.cceditTesting/scene_replay_foundation_test.cppeditssep/common/utils/scene_preprocessor.cceditssep/common/ssep_scene_format.heditdata/ssep/ssep_ec.cppeditssep/offboard/ssep_replay_workbench/editor/scene_validator.cceditssep/offboard/servers/scene_audit.heditssep/offboard/servers/scene_editor_server.cceditssep/test/scene_preprocessor_test.cceditreplayer/scene_data/compact_proto_codec.hppeditssep/offboard/ssep_planner_wrapper.heditssep/offboard/generate_scene_data/resample_scene_paths_cli.cc
- data/ssep/ssep_activation.hppTesting/ssep_replay_pipeline_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/ssep_activation.cpptasks/plan/ssep_task.cppTesting/ssep_request_resources_test.cpp7eaedfe71a1f7bcbfbe2ec61a1e9ea3c68e91f081792396139000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 移除激活接口冗余路径参数
删除 Activate 未使用的 path_repository_path 参数，以及任务提交时的多余路径副本和 lambda 捕获。配置路径仍在提交前绑定到请求 resources，在线加载、冻结回放和录制开关语义保持一致。同步调用方及现有回归，刷新自动生成的 C++ 成员审计指纹。
验证：pnc_node 与 pnc_ssep_path_corridor_test 编译通过；171 项回归全部通过，包含 16 项请求资源测试和 Compact 路径库回放集成测试；Full custom codec 审计无覆盖缺口。
2026-10-19 15:48:59 +08007eaedfe71a1f7bcbfbe2ec61a1e9ea3c68e91f08refactor(ssep): 移除激活接口冗余路径参数editdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditTesting/ssep_replay_pipeline_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/plan/ssep_task.cppeditTesting/ssep_request_resources_test.cpp
- ssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/ssep_scene_planner.ccssep/ssep_planner.h8cabcf72c9386076dcf858a3fc2b7dd290c989f51792396139000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 按输入输出职责重排 Plan 参数
2026-10-19 15:48:59 +08008cabcf72c9386076dcf858a3fc2b7dd290c989f5refactor(ssep): 按输入输出职责重排 Plan 参数editssep/test/ssep_planner_test.cceditssep/ssep_planner.heditssep/ssep_planner.cceditssep/ssep_scene_planner.cc
- docs/ssep/path_artifact_completeness.mdssep/README.mdd850c354da44a1bd40d7296391f208e15b8b2b7a1792396139000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 记录路径产物完整性修复方案
2026-10-19 15:48:59 +0800d850c354da44a1bd40d7296391f208e15b8b2b7adocs(ssep): 记录路径产物完整性修复方案editssep/README.mdadddocs/ssep/path_artifact_completeness.md
- ssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccssep/test/CMakeLists.txtdocs/ssep/path_artifact_completeness.mdssep/test/ssep_path_artifact_test.ccssep/ssep_planner.h931d5782aaac4eb445dd818fb24e423136c6233c1792396190000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 隔离粗路径后处理失败并清理请求产物
2026-10-19 15:49:50 +0800931d5782aaac4eb445dd818fb24e423136c6233cfix(ssep): 隔离粗路径后处理失败并清理请求产物editdocs/ssep/path_artifact_completeness.mdeditssep/scenarios/scenario_planner_interface.heditssep/ssep_planner.cceditssep/ssep_planner.haddssep/test/ssep_path_artifact_test.cceditssep/test/CMakeLists.txt
- ssep/test/CMakeLists.txtssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/scenarios/truck_multi_seg_general_planner.hssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/scenarios/truck_remote_guided_escape_planner.hssep/scenarios/imv_exit_parking_spot_planner.hssep/scenarios/imv_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/test/coarse_path_leaf_test.ccssep/scenarios/truck_u_turn_planner.hssep/scenarios/imv_enter_yard_planner.hssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/legacy_planner.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/scenarios/truck_fuzzy_reversing_planner.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/test/coarse_path_scenarios_test.ccdocs/ssep/path_artifact_completeness.mdssep/scenarios/tractor_trailer_lane_change_planner.hssep/scenarios/straddle_carrier_general_planner.hssep/scenarios/truck_general_planner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/scenarios/imv_pullover_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.haf5d94d850afb1e8a6d3d1b312317cf8e26469ed1792396239000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 补齐场景规划器粗路径产物
2026-10-19 15:50:39 +0800af5d94d850afb1e8a6d3d1b312317cf8e26469edfix(ssep): 补齐场景规划器粗路径产物editssep/scenarios/straddle_carrier_general_planner.heditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.haddssep/test/coarse_path_scenarios_test.cceditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/scenarios/truck_u_turn_planner.heditdocs/ssep/path_artifact_completeness.mdeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/imv_pullover_planner.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/scenarios/truck_remote_guided_escape_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/imv_enter_yard_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.ccaddssep/test/coarse_path_leaf_test.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/scenarios/imv_general_planner.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/test/CMakeLists.txteditssep/scenarios/truck_fuzzy_reversing_planner.heditssep/scenarios/truck_multi_seg_general_planner.heditssep/scenarios/tractor_trailer_short_distance_planner.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/legacy_planner.heditssep/scenarios/tractor_trailer_lane_change_planner.heditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/scenarios/two_stage_planner_composer.hssep/test/CMakeLists.txtssep/test/coarse_path_leaf_test.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/test/coarse_path_composition_test.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/scenarios/search_guide_fallback_planner.hssep/ssep_planner.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdocs/ssep/path_artifact_completeness.mde78207df21f30276bd1f3a245106ea53dbaf255b1792396250000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 完善组合与回退路径产物传播
2026-10-19 15:50:50 +0800e78207df21f30276bd1f3a245106ea53dbaf255bfix(ssep): 完善组合与回退路径产物传播editssep/scenarios/two_stage_planner_composer.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/test/CMakeLists.txteditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/search_guide_fallback_planner.haddssep/test/coarse_path_composition_test.cceditdocs/ssep/path_artifact_completeness.mdeditssep/ssep_planner.cceditssep/test/coarse_path_leaf_test.cc
- ssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.ccssep/offboard/scene_replay/scene_replay_cli_integration_test.pyssep/test/coarse_path_scenarios_test.cc7717038f93e962a9b7d49ba68b5563be7c89a26d1792396250000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autotest(ssep): 完成路径产物贯通回归与验收
2026-10-19 15:50:50 +08007717038f93e962a9b7d49ba68b5563be7c89a26dtest(ssep): 完成路径产物贯通回归与验收editssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.cceditssep/test/coarse_path_scenarios_test.cceditssep/offboard/scene_replay/scene_replay_cli_integration_test.py
- docs/ssep/path_artifact_completeness.mdb4b745a87b483933750b7a55a7053f1ab3b668d11792396250000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 汇总路径产物修复实施与验收结果
2026-10-19 15:50:50 +0800b4b745a87b483933750b7a55a7053f1ab3b668d1docs(ssep): 汇总路径产物修复实施与验收结果editdocs/ssep/path_artifact_completeness.md
- ssep/CMakeLists.txtssep/ssep_path_finalizer.hssep/maps/ssep_scene_map_builder.hssep/README.mdssep/test/ssep_path_artifact_test.ccssep/data_structures/ssep_planning_types.hssep/ssep_path_finalizer.ccdocs/ssep/planning_source_separation.mdssep/maps/ssep_scene_map_builder.ccssep/ssep_planner.ccssep/ssep_planner.hb6d7dff36854a5acd62c14718532a6c5fd8430131792396367000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 提取地图构建和路径输出后处理
2026-10-19 15:52:47 +0800b6d7dff36854a5acd62c14718532a6c5fd843013refactor(ssep): 提取地图构建和路径输出后处理editssep/README.mdaddssep/ssep_path_finalizer.haddssep/maps/ssep_scene_map_builder.cceditssep/test/ssep_path_artifact_test.ccadddocs/ssep/planning_source_separation.mdaddssep/data_structures/ssep_planning_types.haddssep/maps/ssep_scene_map_builder.heditssep/CMakeLists.txteditssep/ssep_planner.ccaddssep/ssep_path_finalizer.cceditssep/ssep_planner.h
- ssep/test/CMakeLists.txtssep/offboard/ssep_planner_wrapper.ccdocs/ssep/planning_source_separation.mdssep/ssep_scene_planner.hssep/ssep_planner.hssep/ssep_planning_coordinator.ccssep/scenarios/scenario_planning_validation.hssep/CMakeLists.txtssep/test/ssep_planner_test.ccssep/test/ssep_path_artifact_test.ccssep/ssep_scene_planner.ccssep/test/ssep_planning_coordinator_test.ccssep/scenarios/scenario_planning_validation.ccssep/offboard/ssep_planner_wrapper.hssep/test/ssep_planning_validation_test.ccssep/ssep_planning_coordinator.hssep/ssep_planner.cc177ed31e44a1ba41949be9c56d180904202e16371792396551000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 分离路径来源调度与完整场景规划
2026-10-19 15:55:51 +0800177ed31e44a1ba41949be9c56d180904202e1637refactor(ssep): 分离路径来源调度与完整场景规划editdocs/ssep/planning_source_separation.mdeditssep/CMakeLists.txteditssep/offboard/ssep_planner_wrapper.ccaddssep/ssep_planning_coordinator.haddssep/scenarios/scenario_planning_validation.cceditssep/ssep_planner.heditssep/offboard/ssep_planner_wrapper.haddssep/test/ssep_planning_validation_test.cceditssep/test/CMakeLists.txtaddssep/ssep_planning_coordinator.cceditssep/ssep_planner.ccaddssep/scenarios/scenario_planning_validation.heditssep/ssep_scene_planner.heditssep/test/ssep_planner_test.cceditssep/test/ssep_path_artifact_test.cceditssep/ssep_scene_planner.ccaddssep/test/ssep_planning_coordinator_test.cc
- ssep/test/ssep_planning_coordinator_test.ccssep/test/CMakeLists.txtssep/README.mdssep/test/ssep_scene_planner_test.ccdocs/ssep/planning_source_separation.md3b3d6f669fde040d06f1a2f88fbd1ddc650a122f1792396551000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autotest(ssep): 覆盖路径来源资格和按需构建边界
2026-10-19 15:55:51 +08003b3d6f669fde040d06f1a2f88fbd1ddc650a122ftest(ssep): 覆盖路径来源资格和按需构建边界editssep/test/CMakeLists.txteditssep/test/ssep_planning_coordinator_test.cceditssep/test/ssep_scene_planner_test.cceditdocs/ssep/planning_source_separation.mdeditssep/README.md
- docs/ssep/planning_source_separation.md2af67c3d5e6ccb10415e9ce9813239509d2e35f81792396551000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 记录路径来源分离CPU与GPU验收
2026-10-19 15:55:51 +08002af67c3d5e6ccb10415e9ce9813239509d2e35f8docs(ssep): 记录路径来源分离CPU与GPU验收editdocs/ssep/planning_source_separation.md
- ssep/README.mddocs/ssep/core_path_results.mdb67464ec409b3c3df431ca742f18fe64e414cdc21792396551000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 记录核心搜索优化产物重构计划
2026-10-19 15:55:51 +0800b67464ec409b3c3df431ca742f18fe64e414cdc2docs(ssep): 记录核心搜索优化产物重构计划adddocs/ssep/core_path_results.mdeditssep/README.md
- ssep/test/CMakeLists.txtssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/scenarios/truck_multi_seg_general_planner.hssep/protos/planning_result.protossep/scenarios/truck_remote_guided_escape_planner.hssep/scenarios/imv_exit_parking_spot_planner.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hssep/common/utils/path_result_codec.ccssep/scenarios/truck_u_turn_planner.hssep/scenarios/imv_enter_yard_planner.hssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/ssep_path_result.hssep/scenarios/scenario_planner_interface.hssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/path_artifact_recorder.hssep/scenarios/legacy_planner.hssep/scenarios/truck_fuzzy_reversing_planner.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/scenarios/tractor_trailer_lane_change_planner.hssep/CMakeLists.txtssep/scenarios/truck_general_planner.hssep/scenarios/straddle_carrier_general_planner.hssep/data_structures/ssep_planning_types.hssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/scenarios/imv_pullover_planner.hssep/common/utils/path_result_codec.hssep/test/ssep_core_artifacts_test.ccssep/test/ssep_path_result_codec_test.ccdocs/ssep/core_path_results.md6d4a2c0bcd42f2b9c74943fd804e514d10083d871792396924000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep): 保存真实搜索优化阶段及独立产物合同
2026-10-19 16:02:04 +08006d4a2c0bcd42f2b9c74943fd804e514d10083d87feat(ssep): 保存真实搜索优化阶段及独立产物合同editssep/scenarios/imv_enter_station_planner.heditssep/ssep_planner.ccaddssep/common/utils/path_result_codec.ccaddssep/scenarios/path_artifact_recorder.heditdocs/ssep/core_path_results.mdaddssep/data_structures/ssep_path_result.heditssep/scenarios/truck_general_planner.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/legacy_planner.heditssep/scenarios/scenario_planner_interface.heditssep/scenarios/imv_enter_yard_planner.haddssep/protos/planning_result.protoeditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_fuzzy_reversing_planner.heditssep/scenarios/truck_u_turn_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/scenarios/tractor_trailer_lane_change_planner.haddssep/common/utils/path_result_codec.haddssep/test/ssep_core_artifacts_test.cceditssep/scenarios/tractor_trailer_short_distance_planner.heditssep/scenarios/truck_remote_guided_escape_planner.heditssep/scenarios/truck_multi_seg_general_planner.heditssep/test/CMakeLists.txtaddssep/test/ssep_path_result_codec_test.cceditssep/scenarios/imv_general_planner.heditssep/scenarios/imv_pullover_planner.heditssep/scenarios/straddle_carrier_general_planner.heditssep/CMakeLists.txteditssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/scenarios/imv_multi_segment_parking_planner.heditssep/data_structures/ssep_planning_types.h
- ssep/scenarios/tractor_trailer_enter_yard_planner.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/scenarios/two_stage_planner_composer.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/search_guide_fallback_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/test/ssep_core_artifacts_test.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/path_artifact_recorder.hdocs/ssep/core_path_results.mdssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h2a1ea974d6f1652f3167fdf460d51339838189ef1792397028000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep): 贯通复杂场景阶段产物与候选整组传播
2026-10-19 16:03:48 +08002a1ea974d6f1652f3167fdf460d51339838189effeat(ssep): 贯通复杂场景阶段产物与候选整组传播editssep/test/ssep_core_artifacts_test.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/path_artifact_recorder.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditdocs/ssep/core_path_results.mdeditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/search_guide_fallback_planner.heditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/two_stage_planner_composer.heditssep/scenarios/stitching_replanner.heditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/offboard/ssep_replay_workbench/recording/frame_overlay.ccssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.cctasks/plan/reversing_truck_path_task.cpptasks/plan/ssep_task.cppssep/offboard/scene_replay/scene_replay_cli_integration_test.pytasks/other_tasks/stitch_trailer_path_to_ref_line.cppssep/offboard/ssep_replay_workbench/recording/recording_manifest.hssep/offboard/tools/export_trailer_search_guide.pyTesting/ssep_path_corridor_test.cppproto/pnc_scene/compact_plan_frame_fields.protossep/offboard/ssep_replay_workbench/model/path_visualization.hreplayer/scene_data/compact_numeric_policy.yamlTesting/ssep_replay_contract_test.cppssep/protos/scene.protossep/offboard/ssep_replay_workbench/rendering/scene_renderer.hTesting/routing_map_guard_test.cppssep/scenarios/truck_general_planner.hreplayer/scene_data/plan_frame_persistence_policy.yamlssep/test/local_regression/test_tt_parking_regression.pyssep/offboard/ssep_replay_workbench/tests/scene_document_io_test.ccssep/test/ssep_path_result_codec_test.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hdocs/ssep/core_path_results.mdreplayer/scene_data/compact_proto_codec.cppreplayer/replayer_data_process/replayer_data_process.cppdata/other/flow_control.cppssep/test/local_regression/README.mdssep/offboard/ssep_planner_wrapper.ccssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.ccssep/test/local_regression/test_scene_audit.pytasks/deciders/search_decider/forward_search_decider.cppssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.ccssep/test/local_regression/tt_heading_quality.pyssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hpphmi/draw/draw_ssep.cppTesting/scenario_search_exit_test.cppssep/offboard/servers/scene_audit.hssep/common/utils/scene_frame_visualization.hssep/test/local_regression/remote_replay_cli.pyssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccreplayer/scene_data/generated/plan_frame_field_roles.jsontasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/scenario/scenario_planner_action.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/common/utils/scene_frame_visualization.ccssep/scenarios/truck_fuzzy_reversing_planner.hssep/offboard/ssep_replay_workbench/tests/path_visualization_test.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/ssep_scene_planner.hssep/test/local_regression/test_remote_replay_cli.pyssep/offboard/generate_scene_data/transform_to_body_frame_cli.ccreplayer/scene_data/generated/plan_frame_member_inputs.jsonssep/test/ssep_path_artifact_test.ccssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.hssep/offboard/ssep_replay_workbench/README.mdssep/offboard/ssep_replay_workbench/editor/scene_validator.ccreplayer/scene_data/generated/plan_frame_descriptor.pbreplayer/scene_data/compact_geometry_codec.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccdata/vehicle/request_routing_data.cppssep/offboard/tools/path_result_contract.pyTesting/path_pair_validation_test.cppssep/test/local_regression/run_ssep_regression.pyssep/scenarios/truck_remote_guided_escape_planner.hssep/offboard/ssep_replay_workbench/tests/double_press_shortcut_test.ccTesting/routing_transition_test.cppdata/other/reverse_pickup.cppdata/ssep/ssep_activation.cppssep/scenarios/path_artifact_recorder.hTesting/reverse_pickup_stage_selector_test.cppssep/scenarios/legacy_planner.hssep/offboard/ssep_visualizer.hreplayer/scene_data/encoding_benchmark.cpptools/pnc_proto_mapper/test_schema_migration.pyssep/data_structures/ssep_planning_types.hproto/pnc_scene/scene_debug_layer.protoTesting/ssep_request_resources_test.cppssep/offboard/ssep_replay_workbench/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/offboard/ssep_replay_workbench/model/scene_model.ccssep/scenarios/imv_pullover_planner.hssep/offboard/ssep_replay_workbench/model/scene_model.hssep/ssep_path_finalizer.ccssep/test/ssep_scene_planner_test.ccdata/vehicle/deviation_status.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppssep/ssep_planning_coordinator.ccTesting/search_decider_lifecycle_test.cppssep/offboard/ssep_replay_workbench/recording/recording_manifest.cctasks/other_tasks/stitch_path_to_reference_line.cppssep/offboard/servers/test_heading_diagnostics.jsssep/scenarios/truck_u_turn_planner.hssep/offboard/ssep_replay_workbench/rendering/scene_renderer.cctools/pnc_proto_mapper/test_ssep_scene_v3.pyTesting/scene_replay_foundation_test.cppssep/test/ssep_planning_coordinator_test.ccssep/scenarios/imv_multi_segment_parking_planner.hreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/scenarios/truck_multi_segment_parking_planner.htasks/deciders/search_decider/search_decider_lifecycle.hppssep/scenarios/tractor_trailer_lane_change_planner.htasks/deciders/search_decider/normal_junction_search_decider.cppssep/test/local_regression/scene_format.pyreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.ccssep/offboard/generate_scene_data/scene_transform_integration_test.pyssep/test/local_regression/tt_recent_parking_quality.pyssep/scenarios/truck_multi_seg_general_planner.hssep/scenarios/imv_exit_parking_spot_planner.hssep/offboard/ssep_replay_workbench/app/workbench_main.cchmi/widget/diagnose.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_enter_yard_planner.hreplayer/analysis_server/scene_channel_wire.cppssep/offboard/ssep_planner_wrapper.hdata/ssep/ssep_ec.cppssep/test/local_regression/test_path_quality.pyreplayer/scene_data/generated/compact_scene_descriptor.pbssep/offboard/generate_path_repository/path_repository_tool_io_test.ccssep/common/utils/path_result_proto_validation.hTesting/reference_line_replan_test.cppssep/test/proto_converters_test.ccreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamldata/plan_frame.hppssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.ccssep/test/local_regression/test_tt_reference_cusp_quality.pydata/plan/ssep_data.hppssep/README.mdssep/test/local_regression/tt_parking_quality.pyssep/offboard/ssep_replay_workbench/worker/worker_session.ccssep/test/ssep_corpus_fingerprint_runner.cctools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsontasks/other_tasks/stitch_trailer_path_to_ref_line.hppssep/test/local_regression/test_scene_format.pyssep/scenarios/two_stage_planner_composer.hssep/offboard/generate_scene_data/trim_scene_paths_cli.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/test/local_regression/test_tt_recent_parking_quality.pytasks/deciders/search_decider/ex_lane_change_search_decider.cpptools/pnc_proto_mapper/schema_lint.pyTesting/ssep_output_test_utils.hppssep/offboard/scene_replay/replay_scene_frame_cli.ccTesting/scene_channel_wire_test.cppssep/scenarios/straddle_carrier_general_planner.hssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.ccdata/plan/ssep_data.cppdata/plan/smooth_data.cppssep/test/local_regression/scene_test_utils.pyreplayer/scene_data/compact_proto_codec.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/common/utils/path_result_codec.ccssep/test/local_regression/test_published_imv_quality.pyssep/offboard/ssep_replay_workbench/tests/scene_model_test.cctasks/deciders/search_decider/reverse_search_decider.cppssep/offboard/ssep_replay_workbench/tests/target_scene_fixture.hreplayer/scene_data/compact_custom_field_proto_codec.cppssep/test/local_regression/test_parking_collision_quality.pyssep/offboard/ssep_replay_workbench/recording/frame_overlay.htasks/deciders/search_decider/into_yard_junction_search_decider.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.htasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/search_decider/search_decider_lifecycle.cppproto/pnc_scene/compact_replay_input.protoTesting/ssep_replay_pipeline_test.cppssep/test/local_regression/test_path_result_contract.pyssep/ssep_planner.hssep/offboard/ssep_replay_workbench/tests/frame_overlay_test.cctasks/deciders/search_decider/open_space_search_decider.cppssep/offboard/ssep_replay_workbench/protocol/replay_debug.protossep/ssep_scene_planner.ccssep/test/local_regression/tt_reference_cusp_quality.pyssep/offboard/ssep_replay_workbench/model/path_visualization.ccssep/ssep_planning_coordinator.hssep/ssep_planner.ccproto/pnc_scene/full_plan_frame.protossep/test/ssep_core_artifacts_test.ccssep/test/local_regression/parking_collision_quality.pyreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protoreplayer/scene_data/full_custom_codec_exclusions.yamlssep/test/local_regression/run_tt_single_parking_case.pyssep/scenarios/tractor_trailer_exit_parking_spot_planner.hTesting/reverse_pickup_lifecycle_test.cppssep/ssep_path_finalizer.hssep/test/local_regression/path_quality.pyssep/scenarios/imv_general_planner.hssep/offboard/generate_scene_data/resample_scene_paths_cli.ccdata/ssep/ssep_activation.hpphmi/draw/draw_keb_debug.cppdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdssep/offboard/scene_replay/README.mdssep/scenarios/tractor_trailer_general_planner.hssep/offboard/servers/scene_editor_server.ccssep/scenarios/tractor_trailer_short_distance_planner.hssep/offboard/ssep_replay_workbench/tests/worker_session_test.ccssep/offboard/ssep_visualizer.ccssep/test/ssep_planner_test.ccTesting/parking_pass_progress_test.cppreplayer/scene_data/plan_frame_nested_persistence_review.yamlssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/offboard/ssep_replay_workbench/app/double_press_shortcut.hff3a724efb4b7d4ee1dadf80f061244b6d5029911792397169000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autorefactor(ssep): 贯通阶段产物与唯一输出合同
按候选保存真实搜索、生成、优化及完整场景路径，三种来源共用唯一验收输出。
同步切换 Scene、在线生命周期、Full/Compact、CLI、Workbench 和路径工具；保持原受限粗路径降级及请求预算。
补齐合同、来源、失败试算和可视化回归，记录 CPU/GPU 对照、协议直接变更和覆盖边界。
2026-10-19 16:06:09 +0800ff3a724efb4b7d4ee1dadf80f061244b6d502991refactor(ssep): 贯通阶段产物与唯一输出合同editssep/offboard/ssep_planner_wrapper.cceditssep/offboard/ssep_replay_workbench/recording/recording_manifest.heditssep/scenarios/straddle_carrier_general_planner.heditreplayer/scene_data/compact_proto_codec.cppeditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditreplayer/scene_data/compact_numeric_policy.yamleditTesting/path_pair_validation_test.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppeditreplayer/scene_data/generated/plan_frame_member_inputs.jsoneditssep/offboard/ssep_replay_workbench/worker/worker_session.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/plan_frame_persistence_policy.yamleditssep/scenarios/imv_enter_yard_planner.heditTesting/ssep_request_resources_test.cppeditssep/offboard/ssep_replay_workbench/model/scene_model.heditssep/offboard/ssep_replay_workbench/tests/worker_session_test.ccedittasks/other_tasks/stitch_path_to_reference_line.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditssep/scenarios/truck_u_turn_planner.heditssep/test/ssep_path_artifact_test.cceditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.cceditreplayer/scene_data/encoding_benchmark.cppeditdata/other/reverse_pickup.cppeditdata/other/flow_control.cppeditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/compact_numeric_leaf_contract.csveditssep/scenarios/tractor_trailer_enter_parking_spot_planner.hedithmi/draw/draw_ssep.cppeditssep/ssep_path_finalizer.ccedittasks/deciders/search_decider/forward_search_decider.cppeditssep/scenarios/imv_general_planner.heditssep/offboard/ssep_replay_workbench/tests/target_scene_fixture.hedittasks/deciders/search_decider/out_yard_junction_search_decider.cppeditssep/ssep_planning_coordinator.heditssep/offboard/ssep_replay_workbench/app/double_press_shortcut.heditssep/offboard/tools/export_trailer_search_guide.pyeditssep/scenarios/tractor_trailer_short_distance_planner.heditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/offboard/ssep_replay_workbench/editor/scene_validator.cceditdata/plan_frame.cppeditssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.cceditreplayer/scene_data/compact_custom_field_proto_codec.cppeditssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.cceditssep/offboard/generate_scene_data/transform_to_body_frame_cli.cceditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/ssep_replay_pipeline_test.cppeditssep/common/utils/path_result_codec.cceditssep/scenarios/truck_multi_seg_general_planner.heditTesting/ssep_replay_contract_test.cppeditssep/offboard/ssep_visualizer.cceditdata/plan/ssep_data.hppeditreplayer/scene_data/compact_proto_codec.hppeditssep/offboard/ssep_replay_workbench/tests/frame_overlay_test.cceditssep/offboard/ssep_replay_workbench/recording/recording_manifest.cceditdata/scenario/scenario_planner_action.cppeditssep/offboard/generate_scene_data/scene_transform_integration_test.pyedithmi/widget/diagnose.cppeditssep/ssep_scene_planner.cceditproto/pnc_scene/compact_plan_frame_fields.protoedittools/pnc_proto_mapper/test_ssep_scene_v3.pyedittools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsoneditssep/offboard/ssep_replay_workbench/rendering/scene_renderer.cceditssep/offboard/scene_replay/scene_replay_cli_integration_test.pyedittasks/deciders/search_decider/search_decider_lifecycle.cppeditssep/offboard/ssep_replay_workbench/tests/scene_renderer_test.cceditssep/test/ssep_scene_planner_test.ccedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/other_tasks/stitch_trailer_path_to_ref_line.hppeditssep/scenarios/legacy_planner.heditssep/offboard/ssep_replay_workbench/recording/frame_overlay.hedittools/pnc_proto_mapper/test_schema_migration.pyeditssep/offboard/ssep_replay_workbench/tests/editor_document_test.cceditssep/test/local_regression/test_path_quality.pyeditTesting/scenario_search_exit_test.cppeditssep/ssep_path_finalizer.heditssep/common/utils/scene_frame_visualization.cceditreplayer/scene_data/plan_frame_field_roles.csveditssep/offboard/ssep_replay_workbench/CMakeLists.txteditssep/scenarios/truck_fuzzy_reversing_planner.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/offboard/ssep_replay_workbench/app/workbench_main.cceditdata/plan_frame.hppeditreplayer/replayer_data_process/replayer_data_process.cppeditssep/scenarios/tractor_trailer_general_planner.heditTesting/scene_channel_wire_test.cppeditssep/scenarios/path_artifact_recorder.heditssep/scenarios/truck_general_planner.heditssep/README.mdeditssep/offboard/ssep_replay_workbench/tests/double_press_shortcut_test.cceditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/test/local_regression/test_parking_collision_quality.pyeditssep/test/local_regression/tt_parking_quality.pyaddssep/common/utils/path_result_proto_validation.heditssep/offboard/ssep_replay_workbench/model/scene_model.cceditproto/pnc_scene/compact_replay_input.protoeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/local_regression/test_tt_reference_cusp_quality.pyeditssep/test/ssep_planning_coordinator_test.cceditTesting/reverse_pickup_lifecycle_test.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/search_decider/open_space_search_decider.cppaddssep/test/local_regression/test_path_result_contract.pyeditssep/scenarios/imv_pullover_planner.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.cceditssep/test/local_regression/test_scene_audit.pyeditTesting/scene_replay_foundation_test.cppeditssep/offboard/ssep_replay_workbench/tests/path_visualization_test.cceditssep/test/local_regression/test_tt_parking_regression.pyeditreplayer/scene_data/plan_frame_nested_persistence_review.yamleditssep/offboard/ssep_replay_workbench/worker/replay_planner_engine.heditssep/offboard/ssep_visualizer.heditssep/test/local_regression/test_scene_format.pyeditssep/test/local_regression/test_tt_recent_parking_quality.pyedittasks/plan/reversing_truck_path_task.cppeditssep/offboard/servers/scene_editor_server.cceditssep/offboard/generate_scene_data/resample_scene_paths_cli.cceditdata/plan/smooth_data.cppeditssep/test/local_regression/tt_heading_quality.pyeditssep/test/local_regression/README.mdeditssep/test/proto_converters_test.ccedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditTesting/ssep_path_corridor_test.cppeditssep/test/local_regression/scene_format.pyeditssep/test/local_regression/parking_collision_quality.pyeditssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.cceditssep/offboard/ssep_replay_workbench/rendering/scene_renderer.heditssep/offboard/scene_replay/README.mdeditssep/test/local_regression/test_remote_replay_cli.pyeditdocs/ssep/core_path_results.mdedittools/pnc_proto_mapper/schema_lint.pyedithmi/draw/draw_keb_debug.cppeditssep/ssep_planning_coordinator.cceditssep/test/local_regression/tt_reference_cusp_quality.pyeditTesting/routing_map_guard_test.cppeditssep/common/utils/scene_frame_visualization.heditssep/test/local_regression/scene_test_utils.pyeditssep/offboard/generate_scene_data/trim_scene_paths_cli.cceditssep/test/ssep_core_artifacts_test.cceditssep/scenarios/tractor_trailer_lane_change_planner.heditssep/protos/scene.protoeditdata/plan/ssep_data.cppeditssep/test/local_regression/run_ssep_regression.pyeditssep/test/local_regression/path_quality.pyeditdata/ssep/ssep_activation.hppeditssep/offboard/servers/scene_vis_html_template.cceditssep/data_structures/ssep_planning_types.heditTesting/routing_transition_test.cppeditssep/test/local_regression/test_published_imv_quality.pyeditssep/scenarios/imv_multi_segment_parking_planner.heditssep/test/ssep_corpus_fingerprint_runner.cceditproto/plan_data.protoeditssep/test/local_regression/run_tt_single_parking_case.pyeditssep/test/ssep_planner_test.cceditTesting/search_decider_lifecycle_test.cppedittasks/plan/ssep_task.cppeditssep/test/ssep_path_result_codec_test.cceditssep/ssep_planner.heditssep/test/local_regression/tt_recent_parking_quality.pyaddssep/offboard/tools/path_result_contract.pyeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/ssep_scene_planner.heditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_geometry_codec.cppeditssep/offboard/ssep_replay_workbench/README.mdeditssep/scenarios/truck_accurate_reversing_planner.cceditreplayer/scene_data/full_custom_codec_exclusions.yamleditdata/ssep/ssep_ec.hppeditssep/offboard/ssep_replay_workbench/protocol/replay_debug.protoeditssep/offboard/servers/scene_audit.heditssep/offboard/ssep_replay_workbench/model/path_visualization.heditssep/scenarios/truck_remote_guided_escape_planner.heditssep/scenarios/tractor_trailer_enter_yard_planner.hedittasks/other_tasks/stitch_trailer_path_to_ref_line.cppeditssep/offboard/generate_path_repository/path_repository_tool_io_test.cceditdata/vehicle/deviation_status.cppeditssep/offboard/servers/test_heading_diagnostics.jsaddTesting/ssep_output_test_utils.hppeditreplayer/analysis_server/scene_channel_wire.cppeditssep/test/local_regression/remote_replay_cli.pyeditssep/scenarios/imv_exit_parking_spot_planner.heditssep/offboard/ssep_replay_workbench/tests/scene_document_io_test.cceditproto/pnc_scene/scene_debug_layer.protoeditTesting/reference_line_replan_test.cppeditdata/ssep/ssep_ec.cppeditssep/offboard/scene_replay/replay_scene_frame_cli.cceditdata/ssep/ssep_activation.cppeditreplayer/scene_data/plan_frame_full_mapping.yamledittasks/deciders/search_decider/reverse_search_decider.cppeditTestin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- docs/ssep/core_path_results.md25aebfce54cc026d75b71393a5cf6b86c40c45241792397169000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 完成核心路径结果验收与实施记录
2026-10-19 16:06:09 +080025aebfce54cc026d75b71393a5cf6b86c40c4524docs(ssep): 完成核心路径结果验收与实施记录editdocs/ssep/core_path_results.md
- ssep/data_structures/pass_point_purpose.hssep/data_structures/pass_point.hssep/test/CMakeLists.txtssep/test/pass_point_test.ccdocs/ssep/pass_point_inputs.mdssep/README.mdb0e368b86522edc5956884bf8e22ae84ca59c0bb1792397170000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep): 定义带用途和显式存在性的Pass点
2026-10-19 16:06:10 +0800b0e368b86522edc5956884bf8e22ae84ca59c0bbfeat(ssep): 定义带用途和显式存在性的Pass点addssep/test/pass_point_test.ccaddssep/data_structures/pass_point_purpose.haddssep/data_structures/pass_point.hadddocs/ssep/pass_point_inputs.mdeditssep/README.mdeditssep/test/CMakeLists.txt
- 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贯通带用途的Pass点与有序途经约束
2026-10-19 16:07:52 +0800e62239de6dce64307f8a1955323b31654f7fd859refactor(ssep): 贯通带用途的Pass点与有序途经约束editssep/offboard/ssep_replay_workbench/editor/editor_render_model.heditssep/ssep_planning_coordinator.cceditssep/test/local_regression/README.mdaddssep/common/utils/pass_point_proto.heditssep/common/utils/scene_preprocessor.cceditssep/test/local_regression/test_scene_audit.pyeditssep/README.mdedithmi/draw/draw_ssep.cppeditssep/test/local_regression/tt_reverse_priority_tail1_quality.jsoneditssep/test/ssep_planner_test.ccedittools/pnc_proto_mapper/test_ssep_scene_v3.pyeditssep/keb_optimizer/keb_problem.hedithmi/draw/draw_map.cppeditTesting/parking_pass_progress_test.cppeditssep/offboard/ssep_replay_workbench/app/workbench_main.cceditssep/scenarios/trailer_search_guide_progress.heditssep/test/local_regression/tt_reference_cusp_quality.pyeditssep/offboard/scene_replay/replay_scene_frame_cli.cceditdata/ssep/reverse_ec.cppeditssep/ssep_scene_planner.cceditssep/offboard/ssep_replay_workbench/editor/scene_validator.cceditssep/keb_optimizer/control_space_path_adapter.cceditssep/test/ssep_planning_validation_test.cceditdata/other/reverse_pickup.cppeditdata/ssep/field_junction_ec.cppeditdata/ssep/ssep_ec.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditTesting/ssep_raw_scene_geometry_test.cppeditssep/test/coarse_path_scenarios_test.cceditssep/test/local_regression/test_tt_reference_cusp_quality.pyeditTesting/hmi_collision_render_test.cppeditssep/offboard/ssep_replay_workbench/tests/workbench_controller_test.cceditssep/offboard/servers/scene_editor_html_template.cceditssep/protos/README.mdeditssep/common/utils/scene_preprocessor.heditssep/ssep_planning_coordinator.hadddocs/ssep/path_flow_overview.htmleditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/plan/ssep_data.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditssep/test/ssep_scene_planner_test.cceditTesting/ssep_request_resources_test.cppeditssep/coarse_search/legacy_searcher_adaptor.heditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditssep/test/local_regression/test_tt_parking_regression.pyeditssep/scenarios/legacy_planner.heditssep/offboard/ssep_replay_workbench/README.mdeditssep/test/proto_converters_test.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/offboard/ssep_replay_workbench/editor/editor_render_model.cceditssep/keb_optimizer/keb_problem.cceditssep/offboard/generate_path_repository/path_repository_tool_io_test.cceditssep/offboard/generate_scene_data/scene_transform_integration_test.pyeditssep/scenarios/ordered_search_via_validation.heditreplayer/scene_data/compact_ssep_ec_geometry_codec.cppeditssep/test/local_regression/tt_recent_parking_quality.pyeditssep/offboard/ssep_replay_workbench/model/scene_model.heditssep/offboard/ssep_replay_workbench/tests/replay_planner_engine_test.cceditssep/test/control_space_refiner_test.cceditssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.cceditssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.cceditdata/ssep/ssep_ec.hppeditssep/offboard/ssep_replay_workbench/tests/worker_supervisor_test.cceditssep/scenarios/scenario_planning_validation.heditssep/offboard/ssep_replay_workbench/tests/target_scene_fixture.heditssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planning_coordinator_test.cceditssep/offboard/scene_replay/README.mdeditssep/offboard/ssep_replay_workbench/editor/editable_scene_document.cceditssep/offboard/servers/scene_editor_server.cceditssep/offboard/ssep_replay_workbench/tests/worker_session_test.cceditssep/test/ssep_path_artifact_test.cceditssep/offboard/ssep_replay_workbench/protocol/replay_debug.protoeditssep/test/scene_preprocessor_test.cceditssep/test/local_regression/run_tt_single_parking_case.pyeditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/offboard/ssep_replay_workbench/model/layer_ids.heditTesting/routing_transition_test.cppeditssep/test/forward_precise_planner_test.cceditssep/protos/scene.protoeditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/offboard/ssep_visualizer.heditreplayer/scene_data/compact_numeric_policy.yamleditssep/offboard/servers/scene_vis_html_template.cceditssep/scenarios/truck_multi_segment_parking_planner.heditdocs/ssep/pass_point_inputs.mdeditreplayer/scene_data/compact_numeric_leaf_contract.csveditssep/test/local_regression/scene_test_utils.pyaddssep/data_structures/search_via_point_constraint.heditssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.cceditssep/common/utils/scene_frame_visualization.cceditssep/test/local_regression/tt_parking_quality.pyeditssep/scenarios/scenario_planning_validation.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/offboard/ssep_replay_workbench/tests/editor_document_test.cceditTesting/ssep_map_query_range_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/test/local_regression/run_ssep_regression.pyeditTesting/scene_replay_foundation_test.cppeditssep/ssep_planner.cceditssep/test/local_regression/scene_format.pyeditproto/pnc_scene/compact_replay_input.protoeditTesting/reverse_pickup_lifecycle_test.cppeditssep/offboard/ssep_replay_workbench/model/scene_model.cceditssep/offboard/servers/test_heading_diagnostics.jseditdata/ssep/ssep_scene_constraints.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/common/utils/imv_pass_point.heditssep/test/ssep_core_artifacts_test.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/full_proto_custom_encoder.cppdeletessep/data_structures/search_via_point.heditssep/test/trailer_search_guide_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/offboard/ssep_visualizer.cceditssep/offboard/ssep_replay_workbench/tests/scene_model_test.ccedittools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsoneditdata/other/reverse_pickup.hppeditTesting/ssep_path_corridor_test.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/keb_optimizer/control_space_path_adapter.heditssep/ssep_planner.heditssep/offboard/scene_replay/scene_replay_cli_integration_test.pyeditssep/test/tractor_trailer_kinematic_weight_test.cceditTesting/ssep_replay_pipeline_test.cppeditssep/offboard/generate_scene_data/transform_to_body_frame_cli.cceditssep/test/local_regression/test_tt_recent_parking_quality.pyeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.cceditssep/test/local_regression/test_scene_format.pyeditssep/test/local_regression/test_scene_vis_obstacles.py
- docs/ssep/pass_point_inputs.mda8b74fd415a683d101a4acc22216efd03b2f6a361792397273000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 完成途经输入重构验收记录
2026-10-19 16:07:53 +0800a8b74fd415a683d101a4acc22216efd03b2f6a36docs(ssep): 完成途经输入重构验收记录editdocs/ssep/pass_point_inputs.md
- 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/test/control_space_refiner_test.cceditssep/keb_optimizer/continuous_path_sampling.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/control_space_path_adapter.cceditssep/keb_optimizer/control_space_path_adapter.heditssep/test/tractor_trailer_kinematic_weight_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
- ssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/ssep_planner_test.ccssep/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.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/test/ssep_planner_test.cc
- Testing/wbca_smooth_continuity_test.cppdata/dp_poly_path/dp_road_graph.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edittasks/plan/path_optimization_task.hppeditTesting/wbca_smooth_continuity_test.cppeditdata/dp_poly_path/dp_road_graph_test.cppeditdata/dp_poly_path/dp_road_graph.cppedittasks/plan/path_optimization_task.cpp
- 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editssep/test/local_regression/README.mdaddssep/test/local_regression/tt_ordered_first_stage_cpu_manifest.tsvaddssep/test/local_regression/tt_ordered_first_stage_cases.jsonaddssep/test/local_regression/tt_ordered_first_stage_quality.json
- ssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/gpu_regression_eligibility.pyssep/offboard/ssep_replay_workbench/tests/search_trace_test.ccssep/test/imv_parking_history_test.ccssep/test/local_regression/test_tt_reference_cusp_quality.pyssep/test/local_regression/test_scene_vis_geometry.pyssep/test/local_regression/render_exploration_report.pyssep/ssep_path_finalizer.ccssep/test/local_regression/manual_review_quality.pyssep/test/local_regression/planning_success_quality.pyreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/test/search_guide_scene_test.ccssep/ssep_planning_coordinator.ccssep/test/local_regression/rigid_parking_quality.pyTesting/search_decider_lifecycle_test.cppssep/test/local_regression/test_manual_review_quality.pyssep/scenarios/imv_turnaround_reference.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_parking_validation.hssep/test/local_regression/prepare_full_regression.pyssep/test/local_regression/rigid_parking_collision_quality.pyssep/scenarios/imv_enter_station_candidate.hssep/test/ssep_planning_coordinator_test.ccssep/test/truck_parking_retry_test.ccssep/scenarios/scenario_planning_validation.ccssep/test/ssep_planning_validation_test.ccdata/plan/ssep_task_context.cppssep/test/local_regression/test_rigid_parking_quality.pyssep/test/local_regression/test_rigid_parking_collision_quality.pyssep/test/local_regression/test_render_terminal_entrance.pyssep/test/local_regression/test_path_quality.pyssep/scenarios/rigid_truck_parking_validation.hTesting/ssep_path_corridor_test.cppssep/test/parking_history_collision_test.ccssep/test/local_regression/test_gpu_regression_eligibility.pyssep/test/local_regression/test_recorded_regression.pyssep/test/local_regression/render_regression_report.pyTesting/parking_pass_progress_test.cppssep/test/local_regression/test_rigid_parking_motion_quality.pyssep/test/local_regression/scene_format.pyssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/test/local_regression/tt_reference_cusp_quality.pyssep/test/ssep_path_artifact_test.ccssep/test/local_regression/test_prepare_scenario_filter.pyssep/ssep_planning_coordinator.hssep/test/local_regression/test_full_regression_runner.pyssep/test/ssep_core_artifacts_test.ccTesting/ssep_scenario_config_lifecycle_test.cpp9609bf24a28b162a83f9e04c4e35a140b4dce8151792402424000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 补齐 Daxie 基线在重构接口上的接线
修复历史执行器 Build 状态传播、路由前参数校验和目标回归的旧接口引用。
将旧在线标定复用门禁接到所选路口实际几何参数，不恢复已退役字段。
修正多阶段搜索回溯提取后的 trace 作用域，补候选配对和硬验收回归。
迁移目标工具的 Scene、Pass presence 和路径角色读取，保留验收公式与阈值。
验证：核心 524、场景 130、PNC 1750、Workbench 328、HTTP/Python 269 项通过；
CPU 四例和 RTX 4060 GPU 一例输出与原重构基线一致；目标原生九条路径字节一致。
既有跳过、目标基线单测夹具失败和严格协议迁移差异在实施文档单列。
2026-10-19 17:33:44 +08009609bf24a28b162a83f9e04c4e35a140b4dce815fix(ssep): 补齐 Daxie 基线在重构接口上的接线editssep/test/local_regression/render_regression_report.pyeditssep/test/local_regression/test_tt_reference_cusp_quality.pyeditssep/scenarios/rigid_truck_parking_validation.heditssep/ssep_planning_coordinator.cceditssep/test/local_regression/test_rigid_parking_collision_quality.pyeditssep/test/local_regression/test_path_quality.pyeditssep/test/local_regression/prepare_full_regression.pyeditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/test/local_regression/rigid_parking_motion_quality.pyeditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/scenarios/imv_turnaround_reference.heditssep/ssep_planning_coordinator.heditssep/test/local_regression/rigid_parking_collision_quality.pyeditdata/plan/ssep_task_context.cppeditssep/test/local_regression/test_full_regression_runner.pyeditssep/test/local_regression/render_exploration_report.pyeditssep/ssep_path_finalizer.cceditssep/test/local_regression/test_rigid_parking_motion_quality.pyeditssep/test/local_regression/test_scene_vis_geometry.pyeditssep/test/local_regression/tt_reference_cusp_quality.pyeditssep/test/search_guide_scene_test.cceditTesting/parking_pass_progress_test.cppeditssep/scenarios/imv_parking_validation.heditssep/test/local_regression/test_rigid_parking_quality.pyeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/test/local_regression/test_render_terminal_entrance.pyeditssep/test/local_regression/test_gpu_regression_eligibility.pyeditssep/test/ssep_planning_validation_test.cceditssep/test/local_regression/test_manual_review_quality.pyeditssep/scenarios/imv_enter_station_candidate.heditssep/test/ssep_core_artifacts_test.cceditTesting/search_decider_lifecycle_test.cppeditssep/test/local_regression/test_prepare_scenario_filter.pyeditssep/test/ssep_path_artifact_test.cceditssep/test/truck_parking_retry_test.cceditssep/test/ssep_planning_coordinator_test.cceditTesting/ssep_path_corridor_test.cppeditssep/test/local_regression/test_recorded_regression.pyeditssep/test/local_regression/manual_review_quality.pyeditssep/scenarios/scenario_planning_validation.cceditssep/scenarios/imv_enter_station_planner.heditssep/test/local_regression/gpu_regression_eligibility.pyeditssep/test/parking_history_collision_test.cceditssep/offboard/ssep_replay_workbench/tests/search_trace_test.cceditssep/test/local_regression/scene_format.pyeditssep/test/local_regression/rigid_parking_quality.pyeditssep/test/imv_parking_history_test.cceditssep/test/local_regression/planning_success_quality.py
- docs/ssep/rebase_onto_feat_daxie_proto/native-branch-comparison.jsondocs/ssep/rebase_onto_feat_daxie_proto/fixed-gpu-summary.jsondocs/ssep/pass_point_inputs.mdssep/README.mddocs/ssep/rebase_onto_feat_daxie_proto/external-recorded-coverage.jsondocs/ssep/planning_source_separation.mddocs/ssep/rebase_onto_feat_daxie_proto/target-only-verification.jsondocs/ssep/rebase_onto_feat_daxie_proto/environment.jsondocs/ssep/rebase_onto_feat_daxie_proto.mddocs/ssep/rebase_onto_feat_daxie_proto/fixed-cpu-summary.jsondocs/ssep/rebase_onto_feat_daxie_proto/range-diff.txtdocs/ssep/rebase_onto_feat_daxie_proto/native-source-hashes.jsondocs/ssep/path_flow_overview.htmldocs/ssep/rebase_onto_feat_daxie_proto/commit-map.jsondocs/ssep/rebase_onto_feat_daxie_proto/native-comparison.jsondocs/ssep/rebase_onto_feat_daxie_proto/pnc-acceptance-summary.jsonb666f127948db85c35bd2934693f065955a5c26f1792402656000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 记录 Daxie rebase 对照与验收结果
2026-10-19 17:37:36 +0800b666f127948db85c35bd2934693f065955a5c26fdocs(ssep): 记录 Daxie rebase 对照与验收结果adddocs/ssep/rebase_onto_feat_daxie_proto/pnc-acceptance-summary.jsonadddocs/ssep/rebase_onto_feat_daxie_proto/fixed-cpu-summary.jsonadddocs/ssep/rebase_onto_feat_daxie_proto/native-branch-comparison.jsonadddocs/ssep/rebase_onto_feat_daxie_proto/fixed-gpu-summary.jsonadddocs/ssep/rebase_onto_feat_daxie_proto/range-diff.txtadddocs/ssep/rebase_onto_feat_daxie_proto.mdadddocs/ssep/rebase_onto_feat_daxie_proto/external-recorded-coverage.jsonadddocs/ssep/rebase_onto_feat_daxie_proto/native-comparison.jsoneditdocs/ssep/path_flow_overview.htmladddocs/ssep/rebase_onto_feat_daxie_proto/native-source-hashes.jsoneditdocs/ssep/pass_point_inputs.mdadddocs/ssep/rebase_onto_feat_daxie_proto/commit-map.jsonadddocs/ssep/rebase_onto_feat_daxie_proto/environment.jsoneditdocs/ssep/planning_source_separation.mdadddocs/ssep/rebase_onto_feat_daxie_proto/target-only-verification.jsoneditssep/README.md
- 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editTesting/compact_driving_corridor_restore_test.cppeditTesting/reference_line_replan_test.cppeditdata/plan/guide_line.cppedittasks/other_tasks/create_guide_line.cppeditTesting/CMakeLists.txt
- 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/reference_line_replan_test.cppedittasks/deciders/lat_decider/path_bounds_decider.cppeditTesting/compact_driving_corridor_restore_test.cppeditdata/boundary/driving_corridor.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
- ssep/README.mddocs/ssep/legacy_corpus_migration.md0c259b8f7deef4d5abc7ecf5c6c27cc85cc0fa641792407088000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 固定回归语料迁移与双分支验收合同
2026-10-19 18:51:28 +08000c259b8f7deef4d5abc7ecf5c6c27cc85cc0fa64docs(ssep): 固定回归语料迁移与双分支验收合同adddocs/ssep/legacy_corpus_migration.mdeditssep/README.md
- ssep/offboard/generate_scene_data/scene_transform_integration_test.pyreplayer/scene_data/generated/compact_exact_numeric_visitor.cppssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.cctools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsonssep/offboard/scene_replay/scene_replay_cli_integration_test.pyssep/offboard/servers/scene_vis_html_template.ccssep/offboard/servers/test_heading_diagnostics.jstools/pnc_proto_mapper/test_ssep_scene_v3.pyssep/common/utils/scene_preprocessor.hTesting/scene_replay_foundation_test.cppssep/test/ssep_planning_coordinator_test.ccreplayer/scene_data/generated/plan_frame_encoder.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbproto/pnc_scene/compact_replay_input.protodocs/ssep/legacy_corpus_migration.mdssep/test/scene_preprocessor_test.ccssep/offboard/servers/scene_editor_server.ccreplayer/scene_data/compact_numeric_policy.yamlreplayer/scene_data/compact_ssep_ec_geometry_codec.cppssep/protos/scene.protossep/offboard/generate_scene_data/transform_to_body_frame_cli.ccreplayer/scene_data/compact_numeric_leaf_contract.csvssep/ssep_scene_planner.ccTesting/ssep_request_resources_test.cppssep/common/utils/scene_preprocessor.ccreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbab245e7e8b20b1df4bf39ab909a53f544a3816a91792412065000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 贯通回放起点运动状态并保留空历史回退
2026-10-19 20:14:25 +0800ab245e7e8b20b1df4bf39ab909a53f544a3816a9fix(ssep): 贯通回放起点运动状态并保留空历史回退editreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/common/utils/scene_preprocessor.heditssep/offboard/servers/scene_editor_server.cceditssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.cceditssep/common/utils/scene_preprocessor.cceditssep/offboard/scene_replay/scene_replay_cli_integration_test.pyeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/test/scene_preprocessor_test.cceditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittools/pnc_proto_mapper/test_ssep_scene_v3.pyeditdocs/ssep/legacy_corpus_migration.mdeditTesting/ssep_request_resources_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditproto/pnc_scene/compact_replay_input.protoeditssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/test_heading_diagnostics.jseditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/compact_ssep_ec_geometry_codec.cppeditssep/protos/scene.protoeditssep/ssep_scene_planner.cceditreplayer/scene_data/compact_numeric_policy.yamleditssep/offboard/generate_scene_data/scene_transform_integration_test.pyeditdata/ssep/ssep_ec.cppeditssep/test/ssep_planning_coordinator_test.ccedittools/pnc_proto_mapper/migrations/ssep_v3_encoding9.jsoneditssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
- ssep/offboard/scene_migration/instrument_legacy.pyssep/offboard/scene_migration/CMakeLists.txtssep/offboard/scene_migration/current_scene_writer.ccdocs/ssep/legacy_corpus_migration.mdssep/offboard/scene_migration/test_comparison.pyssep/offboard/scene_migration/test_conversion_roundtrip.pyssep/offboard/scene_migration/legacy_ssep_probe.ccssep/offboard/scene_migration/legacy_probe_hooks.ccssep/offboard/scene_migration/probe_json.hppssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/current_ssep_probe.ccssep/offboard/scene_migration/convert_ssep_corpus.pyssep/offboard/scene_migration/test_conversion_repair.pyssep/offboard/scene_migration/repair_ssep_corpus.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/test_config_experiments.pyssep/offboard/scene_migration/build_config_experiments.pyssep/offboard/scene_migration/legacy_probe_hooks.hppssep/offboard/scene_migration/test_conversion.pyssep/offboard/scene_migration/conversion_common.py494f8f0290a11360427a3301cf4ceeaabee7148b1792412103000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep): 增加冻结语料转换与双分支回归对照工具
2026-10-19 20:15:03 +0800494f8f0290a11360427a3301cf4ceeaabee7148bfeat(ssep): 增加冻结语料转换与双分支回归对照工具editdocs/ssep/legacy_corpus_migration.mdaddssep/offboard/scene_migration/build_config_experiments.pyaddssep/offboard/scene_migration/current_ssep_probe.ccaddssep/offboard/scene_migration/test_config_experiments.pyaddssep/offboard/scene_migration/instrument_legacy.pyaddssep/offboard/scene_migration/test_conversion.pyaddssep/offboard/scene_migration/README.mdaddssep/offboard/scene_migration/legacy_ssep_probe.ccaddssep/offboard/scene_migration/test_conversion_repair.pyaddssep/offboard/scene_migration/conversion_common.pyaddssep/offboard/scene_migration/repair_ssep_corpus.pyaddssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/offboard/scene_migration/CMakeLists.txtaddssep/offboard/scene_migration/legacy_probe_hooks.ccaddssep/offboard/scene_migration/probe_json.hppaddssep/offboard/scene_migration/current_scene_writer.ccaddssep/offboard/scene_migration/convert_ssep_corpus.pyaddssep/offboard/scene_migration/legacy_probe_hooks.hppaddssep/offboard/scene_migration/test_comparison.pyaddssep/offboard/scene_migration/test_conversion_roundtrip.py
- data/plan/ssep_data.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/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.hconfig/config_truck/ssep_port_scenarios_jinxi.yamldocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_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.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp63c0ed2e19d37b2ea950c8c5fa2a932aec23f5811792413281000http://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editdata/ssep/ssep_ec.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/parking_pass_progress_test.cppeditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditproto/plan_data.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/plan/ssep_data.cppeditssep/test/ssep_planner_test.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditdata/app/fsm/motion_fsm/motion_fsm.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/compact_numeric_policy.yamleditplan/prepare/prepare_state.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/ssep_planner.cceditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.hpp
- 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/tt_exit_feasibility_manifest.tsveditssep/test/local_regression/README.mdaddssep/test/local_regression/tt_exit_forward_only_overlay.json
- ssep/offboard/ssep_replay_workbench/tests/no_text_scene_references.cmakessep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/test_comparison.pyssep/test/proto_converters_test.ccdocs/ssep/legacy_corpus_migration.md29dc87f2e1fdc0b2834d676359bf91499284118b1792413953000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 校准回归日志采集与真实 GPU 执行证据
2026-10-19 20:45:53 +080029dc87f2e1fdc0b2834d676359bf91499284118bfix(ssep): 校准回归日志采集与真实 GPU 执行证据editdocs/ssep/legacy_corpus_migration.mdeditssep/offboard/scene_migration/test_comparison.pyeditssep/offboard/ssep_replay_workbench/tests/no_text_scene_references.cmakeeditssep/offboard/scene_migration/compare_ssep_corpus.pyeditssep/test/proto_converters_test.cc
- data/plan/ssep_data.cppTesting/routing_map_guard_test.cppssep/test/ssep_planner_test.ccTesting/parking_pass_progress_test.cppconfig/config_truck/ssep_port_scenarios_jinxi.yamlssep/test/local_regression/README.mdssep/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editconfig/config_truck/ssep_port_scenarios_jinxi.yamleditssep/test/local_regression/tt_exit_forward_only_overlay.jsoneditTesting/parking_pass_progress_test.cppeditdata/plan/ssep_data.cppeditssep/test/local_regression/README.mdeditdata/ssep/ssep_ec.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditTesting/routing_map_guard_test.cppeditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/ssep_planner.cc
- ssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/test_comparison.pydocs/ssep/legacy_corpus_migration.md2537bd777740fbd329582d51cf678b55dd45790e1792415223000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 明确回归执行进度与独立路径一致性统计
2026-10-19 21:07:03 +08002537bd777740fbd329582d51cf678b55dd45790efix(ssep): 明确回归执行进度与独立路径一致性统计editssep/offboard/scene_migration/test_comparison.pyeditssep/offboard/scene_migration/compare_ssep_corpus.pyeditdocs/ssep/legacy_corpus_migration.md
- ssep/maps/ssep_scene_map_builder.hssep/ssep_scene_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/test/ssep_path_artifact_test.ccssep/maps/ogm_config_utils.ccdocs/ssep/legacy_corpus_migration.mdssep/test/scene_preprocessor_test.ccssep/common/utils/scene_preprocessor.hssep/maps/ssep_scene_map_builder.ccssep/common/utils/scene_preprocessor.ccssep/maps/ogm_config_utils.h6325048c949a8f28027ba256d98ac57a077ad12e1792420889000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 保留场景构图边界的原始双精度坐标
2026-10-19 22:41:29 +08006325048c949a8f28027ba256d98ac57a077ad12efix(ssep): 保留场景构图边界的原始双精度坐标editssep/ssep_scene_planner.cceditssep/maps/ogm_config_utils.cceditssep/maps/ogm_config_utils.heditssep/common/utils/scene_preprocessor.cceditssep/test/scene_preprocessor_test.cceditssep/maps/ssep_scene_map_builder.heditssep/maps/ssep_scene_map_builder.cceditssep/offboard/ssep_planner_wrapper.cceditssep/common/utils/scene_preprocessor.heditssep/test/ssep_path_artifact_test.cceditdocs/ssep/legacy_corpus_migration.md
- ssep/offboard/scene_migration/test_conversion_bounds.pyssep/offboard/scene_migration/test_matrix_dump.ccssep/offboard/scene_migration/instrument_legacy.pyssep/offboard/scene_migration/CMakeLists.txtssep/offboard/scene_migration/current_scene_writer.ccdocs/ssep/legacy_corpus_migration.mdssep/offboard/scene_migration/test_comparison.pyssep/offboard/scene_migration/test_conversion_roundtrip.pyssep/offboard/scene_migration/legacy_probe_hooks.ccssep/offboard/scene_migration/probe_json.hppssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/current_ssep_probe.ccssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/test_matrix_summary.pyssep/offboard/scene_migration/legacy_probe_hooks.hppssep/offboard/scene_migration/repair_bounds_corpus.pyssep/offboard/scene_migration/summarize_ssep_matrix.pyf7090ea11805703ec3eeca1d83e326c21995534e1792421310000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 修复边界转换精度并补齐实际输入门禁
2026-10-19 22:48:30 +0800f7090ea11805703ec3eeca1d83e326c21995534efix(ssep): 修复边界转换精度并补齐实际输入门禁addssep/offboard/scene_migration/test_matrix_summary.pyeditssep/offboard/scene_migration/current_scene_writer.cceditssep/offboard/scene_migration/README.mdeditssep/offboard/scene_migration/legacy_probe_hooks.ccaddssep/offboard/scene_migration/summarize_ssep_matrix.pyaddssep/offboard/scene_migration/test_conversion_bounds.pyaddssep/offboard/scene_migration/test_matrix_dump.cceditssep/offboard/scene_migration/test_comparison.pyeditssep/offboard/scene_migration/current_ssep_probe.cceditssep/offboard/scene_migration/CMakeLists.txtaddssep/offboard/scene_migration/repair_bounds_corpus.pyeditssep/offboard/scene_migration/legacy_probe_hooks.hppeditdocs/ssep/legacy_corpus_migration.mdeditssep/offboard/scene_migration/compare_ssep_corpus.pyeditssep/offboard/scene_migration/probe_json.hppeditssep/offboard/scene_migration/instrument_legacy.pyeditssep/offboard/scene_migration/test_conversion_roundtrip.py
- tools/wbca_debug/compare_ssep_esdf.cppdocs/ssep/legacy_corpus_migration.md89ac421579fae309c54bce7126051400765cb0d01792422618000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 将地图对比工具接入当前场景与唯一输出
2026-10-19 23:10:18 +080089ac421579fae309c54bce7126051400765cb0d0fix(ssep): 将地图对比工具接入当前场景与唯一输出edittools/wbca_debug/compare_ssep_esdf.cppeditdocs/ssep/legacy_corpus_migration.md
- ssep/offboard/scene_migration/repair_ssep_corpus.pyssep/offboard/scene_migration/test_conversion_bounds.pyssep/offboard/scene_migration/repair_bounds_corpus.pyssep/offboard/scene_migration/freeze_ssep_corpus.pydocs/ssep/legacy_corpus_migration.mdssep/offboard/scene_migration/test_conversion_freeze.py11d461094ed88621dd558b9d677116a27d27010d1792436149000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 补齐语料冻结工具并严格校验迁移来源
2026-10-20 02:55:49 +080011d461094ed88621dd558b9d677116a27d27010dfix(ssep): 补齐语料冻结工具并严格校验迁移来源editdocs/ssep/legacy_corpus_migration.mdeditssep/offboard/scene_migration/repair_ssep_corpus.pyaddssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/offboard/scene_migration/repair_bounds_corpus.pyaddssep/offboard/scene_migration/test_conversion_freeze.pyeditssep/offboard/scene_migration/test_conversion_bounds.py
- ssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/matrix_observations.pydocs/ssep/legacy_corpus_migration.mdssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/test_matrix_summary.pyssep/offboard/scene_migration/test_matrix_observations.pyssep/offboard/scene_migration/test_comparison.pyssep/offboard/scene_migration/summarize_ssep_matrix.pyc0fc7a7ea326fca4d5abe18095235a47b4a40f801792436432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 补齐局部时限重放并汇总全部回归观测
2026-10-20 03:00:32 +0800c0fc7a7ea326fca4d5abe18095235a47b4a40f80fix(ssep): 补齐局部时限重放并汇总全部回归观测editssep/offboard/scene_migration/README.mdeditssep/offboard/scene_migration/test_matrix_summary.pyeditssep/offboard/scene_migration/test_comparison.pyeditdocs/ssep/legacy_corpus_migration.mdeditssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/offboard/scene_migration/matrix_observations.pyeditssep/offboard/scene_migration/summarize_ssep_matrix.pyaddssep/offboard/scene_migration/test_matrix_observations.py
- docs/ssep/legacy_corpus_migration.md34cb7fa025fda54ca05eaa9f31066121c00dceb31792436484000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 归档双分支回归证据与未闭环差异
2026-10-20 03:01:24 +080034cb7fa025fda54ca05eaa9f31066121c00dceb3docs(ssep): 归档双分支回归证据与未闭环差异editdocs/ssep/legacy_corpus_migration.md
- docs/ssep/legacy_corpus_migration.md6cd9f5fc808df5b16b40d03b9d09b65885f6a51b1792465605000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(ssep): 汇总算法一致性结论与差异归因
2026-10-20 11:06:45 +08006cd9f5fc808df5b16b40d03b9d09b65885f6a51bdocs(ssep): 汇总算法一致性结论与差异归因editdocs/ssep/legacy_corpus_migration.md
- offboard/keb_path_opt_cli/keb_scene_converter.hppb027bd004c51e6f2882460b11c4a906e7a49de061792465619000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(keb): 更新离线场景转换器参数头文件引用
将已迁移的 param_loader/param.h 引用更新为 data_structures/planner_param.h，修复离线工具编译失败。已验证当前 Release all 构建（含离线工具），708 个步骤完成，退出码 0。
2026-10-20 11:06:59 +0800b027bd004c51e6f2882460b11c4a906e7a49de06fix(keb): 更新离线场景转换器参数头文件引用editoffboard/keb_path_opt_cli/keb_scene_converter.hpp
- tasks/deciders/other_decider/replan_decider.cppdata/other/flow_control.cpptasks/plan/ssep_task.cppdata/ssep/into_yard_junction_ec.cpp103d673edd27940842707d28f4fc4409367b72a41792468584000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 补充低贝位入场搜索关键诊断日志
记录搜索构造、提交与重搜事件中的低贝位类型和场景，便于核对识别结果到搜索输入的传递。入场配置未命中时首次及每 100 次命中输出提示，避免周期和逐障碍诊断刷屏。
保持规划行为不变；已通过 pnc_node 分布式编译和 git diff --check。
2026-10-20 11:56:24 +0800103d673edd27940842707d28f4fc4409367b72a4chore: 补充低贝位入场搜索关键诊断日志editdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/plan/ssep_task.cpp
- ssep/offboard/ssep_replay_workbench/app/workbench_main.ccssep/offboard/ssep_replay_workbench/README.mdssep/offboard/ssep_replay_workbench/CMakeLists.txtssep/offboard/ssep_replay_workbench/tests/layer_panel_model_test.ccssep/offboard/ssep_replay_workbench/model/layer_panel_model.ccssep/offboard/ssep_replay_workbench/model/layer_panel_model.h8ed937e7c4b4aef06d417c47a5c7dfd6969cee681792469710000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep): 将回放工作台图层整理为折叠树
2026-10-20 12:15:10 +08008ed937e7c4b4aef06d417c47a5c7dfd6969cee68feat(ssep): 将回放工作台图层整理为折叠树editssep/offboard/ssep_replay_workbench/README.mdeditssep/offboard/ssep_replay_workbench/app/workbench_main.cceditssep/offboard/ssep_replay_workbench/CMakeLists.txtaddssep/offboard/ssep_replay_workbench/tests/layer_panel_model_test.ccaddssep/offboard/ssep_replay_workbench/model/layer_panel_model.ccaddssep/offboard/ssep_replay_workbench/model/layer_panel_model.h
- ssep/test/CMakeLists.txtssep/test/coarse_search_stop_clearance_test.ccssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/keb_problem.ccssep/test/keb_stop_collision_test.ccssep/test/keb_sum_collision_test.ccssep/offboard/diagnostic/collision_validation.hssep/keb_optimizer/cost_features/soft_trailer_disk_collision_cost.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/scenarios/tractor_trailer_general_planner.hssep/common/utils/path_utils.ccssep/offboard/scene_replay/CMakeLists.txtssep/scenarios/tractor_trailer_lane_change_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/test/ssep_planner_test.ccssep/test/tractor_trailer_hitch_consistency_test.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/common/utils/path_utils.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/offboard/diagnostic/report_template.htmlssep/keb_optimizer/keb_problem.hssep/common/math/tractor_trailer_geometry.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/offboard/diagnostic/collision_geometry.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h9cd8f2d68538f1f0da08c990e4b4a25358e40b551792484046000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 补全挂车碰撞链路的铰接偏置并调整泊车搜索权重
统一车头后轴到铰接点的有符号坐标变换，补全 CPU 搜索、首尾固定长度计算、
KEB 软碰撞代价和通用挂车终检中的 h 偏移，保留车头航向的自动微分导数。
将单段及双向多段泊车搜索的碰撞、通道代价权重从 1.0 调整为 0.3，
保持既有硬碰撞阈值和终点验收语义。
同步离线碰撞几何展示，增加同位姿 h=0 对照及符号、方向、梯度测试；
删除 keb_sum_collision_test.cc 及其构建引用。
验证：核对同补丁 CPU 回放记录，样本整理后共 372 例规划成功；
该批次未执行独立质量检查。当前示例另经完整车身扫掠检查通过。
本次提交前 git diff --check 通过；测试清理后未重新编译或运行完整测试。
2026-10-20 16:14:06 +08009cd8f2d68538f1f0da08c990e4b4a25358e40b55feat: 补全挂车碰撞链路的铰接偏置并调整泊车搜索权重editssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/offboard/diagnostic/report_template.htmleditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditssep/keb_optimizer/keb_problem.haddssep/common/math/tractor_trailer_geometry.heditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.cceditssep/offboard/diagnostic/collision_geometry.heditssep/scenarios/tractor_trailer_lane_change_planner.heditssep/keb_optimizer/keb_problem.ccaddssep/test/tractor_trailer_hitch_consistency_test.cceditssep/common/utils/path_utils.heditssep/offboard/scene_replay/CMakeLists.txtdeletessep/test/keb_sum_collision_test.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/offboard/diagnostic/collision_validation.heditssep/scenarios/tractor_trailer_general_planner.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/CMakeLists.txteditssep/test/coarse_search_stop_clearance_test.cceditssep/test/keb_stop_collision_test.cceditssep/keb_optimizer/cost_features/soft_trailer_disk_collision_cost.h
- data/plan/switch_data.hppTesting/lane_change_prepare_stage_test.cppdata/plan/lane_change_junction_guard.cppdata/plan/lane_change_junction_wait.hppTesting/lane_change_junction_wait_test.cppdata/scenario/scenario_planner_action.cppdata/plan/lane_change_junction_wait.cppdata/plan/switch_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/plan/switch_helper.cppTesting/lane_change_junction_geometry_test.cppTesting/lane_change_space_check_test.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppTesting/routing_transition_test.cppdata/plan/switch_helper.hppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/lane_change_space_check.hppreplayer/scene_data/generated/state_schema_inputs.jsondata/scenario/scenario_region_condition.cppdata/plan/lane_change_space_check.cppdata/plan/lane_change_junction_guard.hppTesting/CMakeLists.txt7ef6bbfc09bf3ba0a28a68bb1c22dcded2ae89da1792490528000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善变道准备距离与路口前停车等待
变道准备减速会消耗执行空间，路口场景提前接管还会清掉等待状态。
统一准备限速与减速、状态等待预算，保持降速后的有效变道意图。
执行前检查途经起点、完成窗口及路由终点，候选更新后在主车道规划前复核；
拒绝或任务失败时恢复等待状态、计时及停车请求。
路口等待复用区域切换距离基准，增加 jerk 受限停车预算与执行裕量。
普通及极限左右变道在 BEFORE 区域保持有效准备和等待，INSIDE 按原规则交接。
保留显式途经起点限制，停车等待后执行仍需满足速度、时间及执行门禁。
补充几何、状态连续帧、载重、起点与终点空间回归，同步生成输入指纹。
验证：Icecream 编译通过；生成物与 Proto 兼容检查通过；diff 检查通过。
两组 CPU 测试共 420 项，413 通过，7 项为前轮相同既有失败；
本轮路口等待新增 31 项全部通过。原 bag 尚未执行修复后的闭环回放。
2026-10-20 18:02:08 +08007ef6bbfc09bf3ba0a28a68bb1c22dcded2ae89dafix: 完善变道准备距离与路口前停车等待addTesting/lane_change_junction_geometry_test.cppadddata/plan/lane_change_junction_wait.hppadddata/plan/lane_change_junction_guard.hppadddata/plan/lane_change_junction_wait.cppadddata/plan/lane_change_space_check.hppeditreplayer/scene_data/generated/state_schema_inputs.jsonaddTesting/lane_change_junction_wait_test.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/plan/switch_helper.hppeditdata/plan/switch_helper.cppeditTesting/CMakeLists.txteditscenarios/lane_change_scenario/lane_change_prepare_stage.cppaddTesting/lane_change_space_check_test.cppeditTesting/routing_transition_test.cppeditdata/plan/switch_data.cppeditdata/plan/switch_data.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonaddTesting/lane_change_prepare_stage_test.cppeditdata/scenario/scenario_region_condition.cppadddata/plan/lane_change_junction_guard.cppadddata/plan/lane_change_space_check.cppeditdata/scenario/scenario_planner_action.cpp
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font_test.ccssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/tests-summary.jsonssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/historical/map1m-summary.jsonssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/gui_real_cases.pyssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0343-candidate-primary.logssep/offboard/ssep_replay_workbench/rendering/scene_renderer.ccssep/offboard/ssep_replay_workbench/tests/ui_preferences_test.ccssep/offboard/ssep_replay_workbench/docs/images/native-ui-light-gray.pngssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/corpus_probe.ccssep/offboard/ssep_replay_workbench/tests/renderer_benchmark.ccssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/summary.jsonssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/build_visual.pyssep/offboard/ssep_replay_workbench/app/gl_runtime.ccssep/offboard/ssep_replay_workbench/app/ui_labels.ccssep/offboard/ssep_replay_workbench/docs/real_corpus_regression_20261020.mdssep/offboard/ssep_replay_workbench/docs/scene_switch_fix_20261020.mdssep/offboard/ssep_replay_workbench/app/ui_theme.hssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/build-commands.jsonssep/offboard/ssep_replay_workbench/docs/images/native-ui-light-gray-settings.pngssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/timeout-boundary-repeats.json63c3966c5f6450d4936c5bf3362d330f00268c9f1792491111000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(ssep): 重设计回放工作台并修复场景切换崩溃
提供深色默认、浅灰和浅色主题、随包 Noto/FreeType 字体、持久化布局、
图层搜索与独显，以及画布、曲线和录像共用的语义样式。
图层面板在绘制前按当前 Controller 和 scene revision 更新展示树，
修复文件树切换清空场景后仍使用旧索引导致的 segmentation fault。
补充同帧清空、直接替换和不同 Controller 的三项界面回归。
归档真实 PB 回归、字体许可证、视觉对照、性能及崩溃前后证据。
验证：373 个 PB 加载/快照往返/渲染通过；最新相关 4 组共 84 项测试
通过，完整 GUI 的 14 次文件选择及快速切换正常退出。
保留候选状态：百万线段 P95 回退仍超过 15%，不切换稳定入口。
2026-10-20 18:11:51 +080063c3966c5f6450d4936c5bf3362d330f00268c9ffeat(ssep): 重设计回放工作台并修复场景切换崩溃addssep/offboard/ssep_replay_workbench/docs/images/native-ui-video-preview.pngeditssep/offboard/ssep_replay_workbench/tests/scene_model_test.ccaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0177-baseline-repeat1.logaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/gui_real_cases.pyaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0177-candidate-repeat1.logaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/visual-build-commands.jsonaddssep/offboard/ssep_replay_workbench/third_party/imgui/misc/freetype/imgui_freetype.cppaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/final-source-check.jsoneditssep/offboard/ssep_replay_workbench/app/gl_runtime.haddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/video-mp4-manifest.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/map1m-final/map1m-1-baseline.jsoneditssep/offboard/ssep_replay_workbench/model/scene_model.haddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0343-baseline-primary.logaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/map1m-final/method.jsonaddssep/offboard/ssep_replay_workbench/app/ui_preferences.haddssep/offboard/ssep_replay_workbench/app/workbench_shell.haddssep/offboard/ssep_replay_workbench/docs/native_ui_acceptance_20261020.mdaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/inventory.jsonaddssep/offboard/ssep_replay_workbench/docs/images/native-ui-light-gray.pngaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/map1m-final/map1m-3-baseline.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/visual_probe.ccaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/differences.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/repeat_differences.pyaddssep/offboard/ssep_replay_workbench/app/path_presentation.haddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/environment.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/history-boundary-repeats.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0177-candidate-primary.logaddssep/offboard/ssep_replay_workbench/docs/images/real-corpus-0004.pngaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/repeat-results.jsonaddssep/offboard/ssep_replay_workbench/tests/text_service_test.ccaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/primary-results.jsoneditssep/offboard/ssep_replay_workbench/third_party/UPSTREAM.mdaddssep/offboard/ssep_replay_workbench/docs/evidence/scene_switch_fix_20261020/repro.pyaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/render-report.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/check_controller.pyaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/build_probe.pyaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/tools/build-commands.jsonaddssep/offboard/ssep_replay_workbench/assets/fonts/LICENSE-NotoSansMono.txtaddssep/offboard/ssep_replay_workbench/rendering/text_service.heditssep/offboard/ssep_replay_workbench/model/scene_model.ccaddssep/offboard/ssep_replay_workbench/tests/layer_panel_view_test.ccaddssep/offboard/ssep_replay_workbench/tests/workbench_shell_test.cceditssep/offboard/ssep_replay_workbench/recording/frame_overlay.haddssep/offboard/ssep_replay_workbench/docs/images/native-ui-light-1366.pngaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0177-baseline-primary.logeditssep/offboard/ssep_replay_workbench/model/layer_panel_model.ccaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/historical/areas32-summary.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/scene_switch_fix_20261020/after-gdb.logaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/map1m-final/map1m-2-candidate.jsoneditssep/offboard/ssep_replay_workbench/tests/frame_overlay_test.ccaddssep/offboard/ssep_replay_workbench/rendering/visualization_style.heditssep/offboard/ssep_replay_workbench/tests/gl_runtime_font_test.ccaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/tests-summary.jsonaddssep/offboard/ssep_replay_workbench/docs/evidence/native_ui_20261020/visual-comparison.jsonaddssep/offboard/ssep_replay_workbench/rendering/viewport_metrics.heditssep/offboard/ssep_replay_workbench/rendering/scene_renderer.ccaddssep/offboard/ssep_replay_workbench/docs/evidence/real_corpus_20261020/boundary-logs/0343-baseline-repeat1.logeditssep/offboard/ssep_replay_workbench/CMakeLists.txtaddssep/offboard/ssep_replay_workbench/rendering/text_service.ccaddssep/offboar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- data/app/fsm/task_command_type.cppTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/forward_ec.cppdata/ssep/ssep_scenario_config_loader.cpp8024276d2c2e881c186f6954c13d46d6db27549d1792495703000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复苏溪出停车误匹配路边停车场景
补齐 TO_ROADSIDE 的双向枚举转换，拒绝将未知任务配置静默解析为 UNCLASSIFIED，避免未分类任务误命中 PullOver。
将苏溪出停车硬编码判断提前到路边任务之前，增加映射、配置匹配及优先级回归测试。专项测试 117 项全部通过。
2026-10-20 19:28:23 +08008024276d2c2e881c186f6954c13d46d6db27549dfix: 修复苏溪出停车误匹配路边停车场景editTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/forward_ec.cppeditdata/ssep/ssep_scenario_config_loader.cppeditdata/app/fsm/task_command_type.cpp
- ssep/offboard/ssep_replay_workbench/app/workbench_main.ccssep/offboard/ssep_replay_workbench/README.md87d0f08f6176188915b3176bcab3ec7b1a8f78001792496222000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 保留规划完成后的场景状态浮窗
恢复所有可用规划状态的浮窗显示，成功后持续展示结果、耗时和路径数量。
重新运行、编辑和场景切换继续使用 Controller 的状态生命周期；同步更新使用说明。
验证：Controller 测试通过；真实 GUI 检查成功状态延时保留、点击打开诊断、
切换时更新进度，以及失败后切换到成功场景，正常退出且输入文件未改变。
2026-10-20 19:37:02 +080087d0f08f6176188915b3176bcab3ec7b1a8f7800fix(ssep): 保留规划完成后的场景状态浮窗editssep/offboard/ssep_replay_workbench/app/workbench_main.cceditssep/offboard/ssep_replay_workbench/README.md
- ssep/offboard/scene_migration/instrument_legacy.pyssep/offboard/scene_migration/baseline_profiles.pyssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/test_baseline_profiles.pyssep/offboard/scene_migration/convert_ssep_corpus.pyssep/offboard/scene_migration/test_conversion_freeze.py3c9f9cc2c786a123fedcf1ed6bee47fcf8b9ce4f1792514249000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(migration): 支持固定版本基线 profile
2026-10-21 00:37:29 +08003c9f9cc2c786a123fedcf1ed6bee47fcf8b9ce4ffeat(migration): 支持固定版本基线 profileaddssep/offboard/scene_migration/baseline_profiles.pyeditssep/offboard/scene_migration/instrument_legacy.pyeditssep/offboard/scene_migration/test_conversion_freeze.pyeditssep/offboard/scene_migration/convert_ssep_corpus.pyeditssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/offboard/scene_migration/README.mdaddssep/offboard/scene_migration/test_baseline_profiles.py
- ssep/offboard/scene_migration/instrument_legacy.pyssep/offboard/scene_migration/CMakeLists.txtssep/offboard/scene_migration/current_scene_writer.ccssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/test_conversion_publication.pyssep/offboard/scene_migration/legacy_ssep_probe.ccssep/offboard/scene_migration/build_identity.hppssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/current_ssep_probe.ccssep/offboard/scene_migration/convert_ssep_corpus.pyssep/offboard/scene_migration/finalize_ssep_corpus.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/repair_ssep_corpus.pyssep/offboard/scene_migration/conversion_common.pyssep/offboard/scene_migration/test_conversion_freeze.py8e1f93f8ef75be9ad2b5eda66799d54b3f24d87d1792515603000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(migration): 增加暂存转换与 manifest v2
绑定真实源码快照与编译身份，分离 staging 与最终目录，加入严格恢复和原子发布。已通过 141 项工具回归（1 个外部原生夹具先跳过，随后真实 reader/writer 往返测试补验通过）、6 个原生输入准备及精确回读、小型 schema2 转换流程和 CMake 源码/manifest 错配拒绝测试。
2026-10-21 01:00:03 +08008e1f93f8ef75be9ad2b5eda66799d54b3f24d87dfeat(migration): 增加暂存转换与 manifest v2editssep/offboard/scene_migration/current_ssep_probe.cceditssep/offboard/scene_migration/conversion_common.pyaddssep/offboard/scene_migration/test_conversion_publication.pyeditssep/offboard/scene_migration/current_scene_writer.cceditssep/offboard/scene_migration/legacy_ssep_probe.cceditssep/offboard/scene_migration/test_conversion_freeze.pyeditssep/offboard/scene_migration/compare_ssep_corpus.pyeditssep/offboard/scene_migration/instrument_legacy.pyaddssep/offboard/scene_migration/build_identity.hppeditssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/offboard/scene_migration/convert_ssep_corpus.pyaddssep/offboard/scene_migration/finalize_ssep_corpus.pyeditssep/offboard/scene_migration/repair_ssep_corpus.pyeditssep/offboard/scene_migration/CMakeLists.txteditssep/offboard/scene_migration/README.md
- ssep/offboard/scene_migration/approved_missing_scenes.jsonssep/offboard/scene_migration/instrument_legacy.pyssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/convert_ssep_corpus.pyssep/offboard/scene_migration/finalize_ssep_corpus.pyssep/offboard/scene_migration/test_config_experiments.pyssep/offboard/scene_migration/build_config_experiments.pyssep/offboard/scene_migration/test_coverage_registry.pyssep/offboard/scene_migration/coverage_registry.py29c63c24a1595a27dc9d12ea8da176a8acb4506f1792515640000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(regression): 固定配置实验与源数据血缘
按精确基线冻结67个overlay与1个参数实验，登记8条明确允许未覆盖的现场记录；未知缺失仍阻断，已物化输入禁止重复应用参数。真实源盘点确认68个实验全部有源，441个CPU配置分母不缩减。
2026-10-21 01:00:40 +080029c63c24a1595a27dc9d12ea8da176a8acb4506ffix(regression): 固定配置实验与源数据血缘addssep/offboard/scene_migration/approved_missing_scenes.jsoneditssep/offboard/scene_migration/build_config_experiments.pyeditssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/offboard/scene_migration/instrument_legacy.pyeditssep/offboard/scene_migration/convert_ssep_corpus.pyeditssep/offboard/scene_migration/finalize_ssep_corpus.pyaddssep/offboard/scene_migration/coverage_registry.pyeditssep/offboard/scene_migration/test_config_experiments.pyeditssep/offboard/scene_migration/README.mdaddssep/offboard/scene_migration/test_coverage_registry.py
- ssep/test/local_regression/migration_inputs.pyssep/test/local_regression/README.mdssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/finalize_ssep_corpus.pyssep/test/local_regression/test_migration_inputs.pyssep/test/local_regression/run_ssep_regression.pyssep/offboard/scene_migration/test_conversion_publication.pyssep/offboard/scene_migration/test_conversion_freeze.py279610d88a5231f70efa1e18b0fb00cd14f093b11792516066000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(regression): 接入转换数据的独立质量校验
2026-10-21 01:07:46 +0800279610d88a5231f70efa1e18b0fb00cd14f093b1feat(regression): 接入转换数据的独立质量校验editssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/scene_migration/test_conversion_freeze.pyaddssep/test/local_regression/migration_inputs.pyaddssep/test/local_regression/test_migration_inputs.pyeditssep/test/local_regression/README.mdeditssep/offboard/scene_migration/finalize_ssep_corpus.pyeditssep/offboard/scene_migration/test_conversion_publication.py
- ssep/test/local_regression/test_migration_inputs.pyssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/migration_inputs.py62924fc8c897655e0c2482074bb9dcfbd7e9fbf51792516084000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(regression): 拒绝执行期间的规则与验证器漂移
2026-10-21 01:08:04 +080062924fc8c897655e0c2482074bb9dcfbd7e9fbf5fix(regression): 拒绝执行期间的规则与验证器漂移editssep/test/local_regression/test_migration_inputs.pyeditssep/test/local_regression/run_ssep_regression.pyeditssep/test/local_regression/migration_inputs.py
- ssep/offboard/scene_migration/test_workbench_consumer_receipts.pyssep/test/local_regression/test_functional_safety_quality.pyssep/test/local_regression/manual_review_quality.pyssep/offboard/scene_migration/test_profile_consumer_contract.pyssep/test/local_regression/planning_success_quality.pyssep/offboard/scene_migration/acceptance_matrix.pyssep/offboard/scene_migration/test_acceptance_matrix.pyssep/offboard/scene_migration/test_probe_quality_receipt.pyssep/offboard/scene_migration/test_conversion_publication.pyssep/offboard/scene_migration/test_runtime_fingerprint.pyssep/test/local_regression/run_ssep_regression.pyssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/convert_ssep_corpus.pyssep/offboard/scene_migration/finalize_ssep_corpus.pyssep/offboard/scene_migration/runtime_fingerprint.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/build_config_experiments.pyssep/test/local_regression/functional_safety_quality.pyssep/offboard/scene_migration/functional_acceptance.pyssep/offboard/scene_migration/test_functional_acceptance.py6f6899fcadf27d0eff2d51c4ce5cd224961662401792516925000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(regression): 增加功能安全验收与覆盖审计
2026-10-21 01:22:05 +08006f6899fcadf27d0eff2d51c4ce5cd22496166240feat(regression): 增加功能安全验收与覆盖审计addssep/test/local_regression/functional_safety_quality.pyeditssep/test/local_regression/manual_review_quality.pyeditssep/offboard/scene_migration/finalize_ssep_corpus.pyeditssep/offboard/scene_migration/test_conversion_publication.pyaddssep/offboard/scene_migration/test_probe_quality_receipt.pyeditssep/offboard/scene_migration/README.mdaddssep/offboard/scene_migration/acceptance_matrix.pyeditssep/offboard/scene_migration/convert_ssep_corpus.pyaddssep/offboard/scene_migration/test_functional_acceptance.pyaddssep/offboard/scene_migration/functional_acceptance.pyeditssep/offboard/scene_migration/build_config_experiments.pyaddssep/offboard/scene_migration/test_runtime_fingerprint.pyeditssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/test/local_regression/test_functional_safety_quality.pyaddssep/offboard/scene_migration/runtime_fingerprint.pyaddssep/offboard/scene_migration/test_profile_consumer_contract.pyaddssep/offboard/scene_migration/test_workbench_consumer_receipts.pyaddssep/offboard/scene_migration/test_acceptance_matrix.pyeditssep/test/local_regression/planning_success_quality.pyeditssep/test/local_regression/run_ssep_regression.py
- ssep/offboard/scene_migration/CMakeLists.txt546e514e7fac15af3786fc273e7f4e67ea0cdb6b1792517251000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(migration): 绑定当前 probe 的实际候选源码
2026-10-21 01:27:31 +0800546e514e7fac15af3786fc273e7f4e67ea0cdb6bfix(migration): 绑定当前 probe 的实际候选源码editssep/offboard/scene_migration/CMakeLists.txt
- ssep/test/local_regression/README.mdssep/offboard/ssep_replay_workbench/CMakeLists.txtdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdssep/offboard/ssep_replay_workbench/README.mdssep/protos/README.mdssep/offboard/ssep_replay_workbench/tests/corpus_roundtrip_driver.ccssep/offboard/ssep_replay_workbench/tests/corpus_roundtrip_driver_test.py6326846beb29ffac3dda92da30fc7e1d18db8e001792517355000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autotest(ssep): 贯通转换与回放验收流程
2026-10-21 01:29:15 +08006326846beb29ffac3dda92da30fc7e1d18db8e00test(ssep): 贯通转换与回放验收流程editssep/offboard/ssep_replay_workbench/CMakeLists.txtaddssep/offboard/ssep_replay_workbench/tests/corpus_roundtrip_driver_test.pyeditssep/offboard/ssep_replay_workbench/README.mdaddssep/offboard/ssep_replay_workbench/tests/corpus_roundtrip_driver.cceditssep/protos/README.mdeditssep/test/local_regression/README.mdeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.md
- ssep/offboard/scene_migration/preprocessing_geometry.pyssep/offboard/scene_migration/probe_json.hppssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/test_preprocessing_geometry.pyssep/offboard/scene_migration/acceptance_matrix.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/functional_acceptance.pyssep/offboard/scene_migration/preprocessing_geometry_policy.jsonTesting/reversing_path_wbca_test.cpp53b658aad483631faff80e00e0bd6a994381dc9e1792517812000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 证明预处理几何差异的可行性边界
2026-10-21 01:36:52 +080053b658aad483631faff80e00e0bd6a994381dc9efix(validation): 证明预处理几何差异的可行性边界editTesting/reversing_path_wbca_test.cppeditssep/offboard/scene_migration/acceptance_matrix.pyaddssep/offboard/scene_migration/preprocessing_geometry.pyeditssep/offboard/scene_migration/probe_json.hppeditssep/offboard/scene_migration/README.mdeditssep/offboard/scene_migration/functional_acceptance.pyaddssep/offboard/scene_migration/preprocessing_geometry_policy.jsoneditssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/offboard/scene_migration/test_preprocessing_geometry.py
- ssep/test/rigid_truck_parking_validation_test.ccssep/ssep_path_finalizer.hssep/scenarios/truck_general_planner.hssep/test/ssep_path_artifact_test.ccssep/ssep_path_finalizer.ccssep/test/ssep_path_result_codec_test.ccc73f4c39116883aad3e6ab38cfd5546defae2efb1792517994000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 保持刚性货车成功输出的机械可行性
2026-10-21 01:39:54 +0800c73f4c39116883aad3e6ab38cfd5546defae2efbfix(ssep): 保持刚性货车成功输出的机械可行性editssep/test/rigid_truck_parking_validation_test.cceditssep/test/ssep_path_artifact_test.cceditssep/ssep_path_finalizer.heditssep/test/ssep_path_result_codec_test.cceditssep/ssep_path_finalizer.cceditssep/scenarios/truck_general_planner.h
- ssep/test/ssep_planner_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/test/ssep_path_artifact_test.ccssep/ssep_path_finalizer.ccssep/test/tractor_trailer_kinematic_weight_test.cc1916ace0076a7b7e29a6e89f879c8a698d828fe01792519420000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 验证并修复停车路径的实际下发曲率
2026-10-21 02:03:40 +08001916ace0076a7b7e29a6e89f879c8a698d828fe0fix(ssep): 验证并修复停车路径的实际下发曲率editssep/test/ssep_planner_test.cceditssep/test/tractor_trailer_kinematic_weight_test.cceditssep/test/ssep_path_artifact_test.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/ssep_path_finalizer.cc
- ssep/test/control_space_refiner_test.cc01f4f2d314e82a1308c19d220ee70c50fce3bae21792521145000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(test): 适配锚点约束回归的新接口
2026-10-21 02:32:25 +080001f4f2d314e82a1308c19d220ee70c50fce3bae2fix(test): 适配锚点约束回归的新接口editssep/test/control_space_refiner_test.cc
- ssep/offboard/scene_migration/test_descriptor_fingerprint.pyssep/offboard/scene_migration/functional_acceptance.pyssep/offboard/scene_migration/descriptor_fingerprint.py62ed7b9cd0b41e71547bafc6022ddce4353aa1161792528240000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 统一默认 JSON 名的描述符指纹
2026-10-21 04:30:40 +080062ed7b9cd0b41e71547bafc6022ddce4353aa116fix(validation): 统一默认 JSON 名的描述符指纹addssep/offboard/scene_migration/test_descriptor_fingerprint.pyaddssep/offboard/scene_migration/descriptor_fingerprint.pyeditssep/offboard/scene_migration/functional_acceptance.py
- ssep/test/local_regression/test_functional_safety_quality.pyssep/test/local_regression/functional_safety_quality.pyabfc44e24761f3e3de3b9bd8a6ed55d7798e86811792529228000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 区分 IMV 车体曲率与下发几何曲率
2026-10-21 04:47:08 +0800abfc44e24761f3e3de3b9bd8a6ed55d7798e8681fix(validation): 区分 IMV 车体曲率与下发几何曲率editssep/test/local_regression/functional_safety_quality.pyeditssep/test/local_regression/test_functional_safety_quality.py
- ssep/scenarios/imv_general_planner.hssep/test/ssep_path_artifact_test.ccssep/ssep_path_finalizer.ccssep/test/imv_enter_station_candidate_test.ccssep/scenarios/imv_path_validation.h4b4d8b0a4c13cab136ea8e578686d1b8da5523631792529981000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 修复 IMV 通用路径的耦合轮角超限
2026-10-21 04:59:41 +08004b4d8b0a4c13cab136ea8e578686d1b8da552363fix(ssep): 修复 IMV 通用路径的耦合轮角超限editssep/test/ssep_path_artifact_test.cceditssep/ssep_path_finalizer.cceditssep/test/imv_enter_station_candidate_test.ccaddssep/scenarios/imv_path_validation.heditssep/scenarios/imv_general_planner.h
- ssep/test/imv_enter_station_candidate_test.ccssep/scenarios/imv_general_optimization_seed.hssep/scenarios/imv_general_planner.hda63bdd4a036b6b70373e3701fe7faf53f235d931792530808000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 对齐 IMV 搜索根与优化首边方向
2026-10-21 05:13:28 +0800da63bdd4a036b6b70373e3701fe7faf53f235d93fix(ssep): 对齐 IMV 搜索根与优化首边方向addssep/scenarios/imv_general_optimization_seed.heditssep/test/imv_enter_station_candidate_test.cceditssep/scenarios/imv_general_planner.h
- ssep/test/local_regression/published_fields_policy.jsonssep/test/local_regression/test_published_fields_quality.pyssep/test/local_regression/scene_format.pyssep/test/local_regression/test_functional_safety_quality.pyssep/test/local_regression/scene_test_utils.pyssep/test/local_regression/published_fields_quality.pyssep/offboard/scene_migration/test_probe_quality_receipt.pyssep/test/local_regression/functional_safety_quality.pyssep/offboard/scene_migration/functional_acceptance.py1f1b973b2b8b402490014e1afa0b4fe8083cb0de1792533020000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 校验实际发布字段并对齐倒车曲率语义
2026-10-21 05:50:20 +08001f1b973b2b8b402490014e1afa0b4fe8083cb0defix(validation): 校验实际发布字段并对齐倒车曲率语义editssep/offboard/scene_migration/functional_acceptance.pyaddssep/test/local_regression/published_fields_policy.jsonaddssep/test/local_regression/test_published_fields_quality.pyeditssep/test/local_regression/test_functional_safety_quality.pyaddssep/test/local_regression/published_fields_quality.pyeditssep/offboard/scene_migration/test_probe_quality_receipt.pyeditssep/test/local_regression/functional_safety_quality.pyeditssep/test/local_regression/scene_format.pyeditssep/test/local_regression/scene_test_utils.py
- ssep/offboard/scene_migration/README.md63628b0c97ed5d386da20f576ddac0c7fadf63011792533778000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs(validation): 说明字段身份与 SSEP 输出验收边界
2026-10-21 06:02:58 +080063628b0c97ed5d386da20f576ddac0c7fadf6301docs(validation): 说明字段身份与 SSEP 输出验收边界editssep/offboard/scene_migration/README.md
- ssep/offboard/servers/scene_vis_html_template.ccssep/test/local_regression/test_scene_vis_obstacles.py6109c4d9dfa1c84ad7e90bebb5188be8613374121792546664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 明确展示场景停车位碰撞约束
将参与碰撞的停车位绘制为红色粗边界并标注 ID，区分起终点豁免车位，提供独立图例和悬浮说明。修复地图元素字符串枚举的样式匹配。
补充枚举兼容、起终点豁免、开放折线、零坐标和 HTML 转义回归；5 项界面检查、场景浏览器验证及可视化服务编译通过。
2026-10-21 09:37:44 +08006109c4d9dfa1c84ad7e90bebb5188be861337412fix: 明确展示场景停车位碰撞约束editssep/test/local_regression/test_scene_vis_obstacles.pyeditssep/offboard/servers/scene_vis_html_template.cc
- replayer/replayer_data_process/replayer_data_process.cppreplayer/main.cppsource/ros_source_replayer_snapshot.cppreplayer/test/test_map_reload.pyreplayer/test/test_map_hot_reload.pyhmi/replayer_hmi.hppreplayer/logic.hpphmi/widget/replayer_pnc_mat.cppreplayer/replayer_data_process/replayer_data_process.hpphmi/widget/replayer_pnc_mat.hppreplayer/logic.cpphmi/replayer_hmi.cpphmi/widget/diagnose.cpphmi/common/pnc_graphics_view.cppreplayer/test/test_realtime_map_reload.pyhmi/widget/diagnose.hppreplayer/replayer_data_process/load_snap_data.hpphmi/widget/replayer_map.cppreplayer/replayer_data_process/load_snap_data.cpphmi/common/pnc_graphics_view.hpphmi/widget/replayer_map.hpphmi/common/image_viewer.cpphmi/draw/draw_map.hppsource/ros_source_replayer_snapshot.hpphmi/draw/draw_map.cpphmi/common/image_viewer.hpp37f319660c30701ffaf0747632d5ea97172fed551792552086000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复快照重复打开崩溃与地图热切换生命周期
暂停回放并排空界面事件后释放帧、异步任务与地图引用，在后台加载完成后恢复界面；连续打开时保留最新请求及关联地图。
使用规范路径与文件身份识别地图和配置，避免同地图误重载，同时支持原路径文件更新和加载失败恢复。
保留单独换图前的实时模式与独立点云底图，清理旧地图交互和诊断缓存；发布绑定进程的热切换能力。
验证：分布式编译 pnc_replayer 通过；地图缓存 17 项、真实离线生命周期 15 项、实时接收 5 项回归通过。点云菜单尚未进行交互验证。
2026-10-21 11:08:06 +080037f319660c30701ffaf0747632d5ea97172fed55fix: 修复快照重复打开崩溃与地图热切换生命周期edithmi/widget/diagnose.hppeditsource/ros_source_replayer_snapshot.hppeditreplayer/logic.cppedithmi/replayer_hmi.cppedithmi/widget/replayer_map.cppedithmi/widget/diagnose.cppedithmi/widget/replayer_pnc_mat.cppeditsource/ros_source_replayer_snapshot.cppedithmi/common/image_viewer.cppaddreplayer/test/test_realtime_map_reload.pyeditreplayer/replayer_data_process/load_snap_data.cppaddreplayer/test/test_map_reload.pyedithmi/widget/replayer_pnc_mat.hppeditreplayer/replayer_data_process/replayer_data_process.hppeditreplayer/replayer_data_process/load_snap_data.hppedithmi/common/pnc_graphics_view.hppedithmi/common/image_viewer.hppedithmi/widget/replayer_map.hppedithmi/draw/draw_map.cppeditreplayer/logic.hppeditreplayer/main.cppedithmi/draw/draw_map.hppaddreplayer/test/test_map_hot_reload.pyeditreplayer/replayer_data_process/replayer_data_process.cppedithmi/replayer_hmi.hppedithmi/common/pnc_graphics_view.cpp
- ssep/offboard/scene_migration/integration_scope_v1.jsonssep/offboard/scene_migration/test_integration_scope.pyssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/acceptance_matrix.pyssep/offboard/scene_migration/test_acceptance_matrix.pyssep/offboard/scene_migration/test_probe_quality_receipt.pyssep/offboard/scene_migration/test_conversion_publication.pyssep/offboard/scene_migration/coverage_registry.pyssep/offboard/scene_migration/integration_scope.pyssep/offboard/scene_migration/README.mdssep/offboard/scene_migration/convert_ssep_corpus.pyssep/offboard/scene_migration/finalize_ssep_corpus.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/testdata/exact_user_scope_decision.jsonssep/offboard/scene_migration/build_config_experiments.pyssep/offboard/scene_migration/functional_acceptance.pycbb723699d27648a756570455c61b74e947305ab1792557136000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(validation): 固定三条排除与单例验收例外
2026-10-21 12:32:16 +0800cbb723699d27648a756570455c61b74e947305abfeat(validation): 固定三条排除与单例验收例外addssep/offboard/scene_migration/integration_scope_v1.jsonaddssep/offboard/scene_migration/integration_scope.pyeditssep/offboard/scene_migration/README.mdeditssep/offboard/scene_migration/coverage_registry.pyeditssep/offboard/scene_migration/compare_ssep_corpus.pyeditssep/offboard/scene_migration/build_config_experiments.pyeditssep/offboard/scene_migration/acceptance_matrix.pyeditssep/offboard/scene_migration/test_acceptance_matrix.pyeditssep/offboard/scene_migration/functional_acceptance.pyaddssep/offboard/scene_migration/test_integration_scope.pyeditssep/offboard/scene_migration/test_probe_quality_receipt.pyeditssep/offboard/scene_migration/finalize_ssep_corpus.pyaddssep/offboard/scene_migration/testdata/exact_user_scope_decision.jsoneditssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/offboard/scene_migration/test_conversion_publication.pyeditssep/offboard/scene_migration/convert_ssep_corpus.py
- data/boundary/road_boundary.cpp5a689e5d0921a7169f949608927e47d038b4136f1792565441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 使用 PJPO 时跳过起步边界扩展
在起步边界扩展入口检查当前选中的横向规划算法，PJPO 模式下直接返回，避免扩展其道路边界。
2026-10-21 14:50:41 +08005a689e5d0921a7169f949608927e47d038b4136ffix: 使用 PJPO 时跳过起步边界扩展editdata/boundary/road_boundary.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdata/plan/ssep_data.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/plan/ssep_data.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppssep/keb_optimizer/cost_features/physical_sides.hdata/map/envelop/map_envelops.hppreplayer/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.jsondata/ssep/map_coverage_check.hpptasks/deciders/search_decider/search_decider_lifecycle.hppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/scenarios/tractor_trailer_enter_yard_planner.hreplayer/scene_data/compact_numeric_policy.yamlssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbtools/pnc_proto_mapper/generate_exact_numeric_codec.pyreplayer/scene_data/generated/plan_frame_descriptor.pbf21a318fa6cec9f889d3ae1bd733c94f957757d61792570177000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加地图覆盖限时等待并调整入库搜索与碰撞查询
1. 检查 SSEP 起终点车体及前进终点余量的地图覆盖，不足时请求刷新并最多等待 3 秒，覆盖恢复或超时后放行，任务切换和重搜时重置计时。
2. 同步地图等待起点的 Full/Compact 序列化、数值编码策略及生成合同，补充跨帧恢复、超时边界和旧记录兼容测试。
3. 将挂车双向搜索的碰撞与通道软代价权重开放为参数，入库场景统一设置为 0.3，其他调用保持默认值。
4. 合并 KEB 左右侧最近障碍查询为单次树遍历，缓存固定查询半径项并移除重复索引构建。
2026-10-21 16:09:37 +0800f21a318fa6cec9f889d3ae1bd733c94f957757d6feat: 增加地图覆盖限时等待并调整入库搜索与碰撞查询editreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/plan/ssep_data.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csvedittasks/deciders/search_decider/search_decider_lifecycle.hppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamladddata/ssep/map_coverage_check.hppeditssep/keb_optimizer/cost_features/physical_sides.heditTesting/scene_replay_foundation_test.cppeditdata/plan/ssep_data.hppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/map/envelop/map_envelops.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditproto/plan_data.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/ssep/ssep_ec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/full_proto_custom_encoder.cppeditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditreplayer/scene_data/compact_numeric_policy.yaml
- Testing/reference_line_replan_test.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp9b59948f80f3ba78a4a033f3c53a92aaf599a9761792576959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复散货调整阶段被参考线失败阻断搜索
在移动阶段任务执行前处理 PARK_ADJUST 阶段切换，避免无路由任务因参考线检查失败反复停留在移动阶段。保留正常移动阶段的失败清理，并新增调整切换和移动失败回归。
2026-10-21 18:02:39 +08009b59948f80f3ba78a4a033f3c53a92aaf599a976fix: 修复散货调整阶段被参考线失败阻断搜索editTesting/reference_line_replan_test.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
- data/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/other/flow_control.cppdata/vehicle/request_routing_data.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppplan/prepare/prepare_status.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/app/fsm/task_fsm/task_park_fsm/task_park_state.hppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/scenario/scenario_region_condition.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsondata/vehicle/lock_station_data.hppdata/vehicle/lock_station_data.cpptasks/deciders/long_decider/constrain_decider.cppreplayer/scene_data/compact_numeric_policy.yamldata/app/reaction/app_reaction.cppTesting/routing_map_guard_test.cppplan/prepare/prepare_state.cppreplayer/scene_data/vehicle_input_proto_codec.cppreplayer/scene_data/compact_numeric_leaf_contract.csvproto/vehicle.protodata/plan/path_direction_data.cppreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb1820923cc36d656ade154fdbe8f688bbff4e71e91792576976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持散货停车中的缓冲等待与途径点单次放行
在 Park 下复用 BUFFER_STOP，支持 Move/Adjust 停车等待及启动后恢复。将需要停车的搜索途径点纳入缓冲点，提前生成停止线并修正倒车距离及越点过滤。
按任务与途径点身份保存放行记录，覆盖多段路径、重搜、等待锁点和点列表重排；补齐 Full/Compact 字段、旧数据迁移及回归测试。最终三组回归合计 990 项通过、68 项跳过、0 失败。
2026-10-21 18:02:56 +08001820923cc36d656ade154fdbe8f688bbff4e71e9feat: 支持散货停车中的缓冲等待与途径点单次放行editproto/vehicle.protoeditplan/prepare/prepare_state.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppeditdata/vehicle/lock_station_data.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/request_routing_data.cppeditdata/app/reaction/app_reaction.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_state.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/scenario/scenario_region_condition.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditdata/plan/path_direction_data.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditreplayer/scene_data/vehicle_input_proto_codec.cppeditdata/other/flow_control.cppeditdata/vehicle/lock_station_data.cppeditplan/prepare/prepare_status.cppeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pb
- ssep/offboard/scene_migration/raw_endpoint_exception.pyssep/offboard/scene_migration/integration_scope_v3.pyssep/offboard/scene_migration/integration_scope_v2.pyssep/offboard/scene_migration/test_fixed_endpoint_exception.pyssep/offboard/scene_migration/acceptance_matrix.pyssep/offboard/scene_migration/test_raw_endpoint_exception.pyssep/offboard/scene_migration/integration_scope_v2.jsonssep/offboard/scene_migration/test_integration_scope_v2.pyssep/offboard/scene_migration/testdata/exact_user_scope_decision_v3.jsonssep/offboard/scene_migration/integration_scope.pyssep/offboard/scene_migration/fixed_endpoint_exception.pyssep/offboard/scene_migration/integration_scope_v3.jsonssep/offboard/scene_migration/test_integration_scope_v3.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/test_geometry_runtime.pyssep/offboard/scene_migration/testdata/exact_user_scope_decision_v2.jsonssep/offboard/scene_migration/geometry_runtime.pya75e908569bb0922db7a55b8d3a857374915141a1792588587000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 固定已批准例外并校验完整碰撞证据
2026-10-21 21:16:27 +0800a75e908569bb0922db7a55b8d3a857374915141afix(validation): 固定已批准例外并校验完整碰撞证据addssep/offboard/scene_migration/integration_scope_v3.jsonaddssep/offboard/scene_migration/integration_scope_v2.pyeditssep/offboard/scene_migration/integration_scope.pyaddssep/offboard/scene_migration/test_integration_scope_v3.pyaddssep/offboard/scene_migration/raw_endpoint_exception.pyaddssep/offboard/scene_migration/geometry_runtime.pyaddssep/offboard/scene_migration/testdata/exact_user_scope_decision_v2.jsoneditssep/offboard/scene_migration/acceptance_matrix.pyaddssep/offboard/scene_migration/testdata/exact_user_scope_decision_v3.jsoneditssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/offboard/scene_migration/test_geometry_runtime.pyaddssep/offboard/scene_migration/test_integration_scope_v2.pyaddssep/offboard/scene_migration/test_raw_endpoint_exception.pyaddssep/offboard/scene_migration/fixed_endpoint_exception.pyaddssep/offboard/scene_migration/test_fixed_endpoint_exception.pyaddssep/offboard/scene_migration/integration_scope_v3.pyaddssep/offboard/scene_migration/integration_scope_v2.json
- ssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/search_exit_observation.pyssep/offboard/scene_migration/instrument_legacy.pyssep/test/bidirectional_candidate_validation_test.ccssep/offboard/scene_migration/test_search_exit_observation.pyssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc50c05a9293f734b8b2018560c5d1d7f94ba9f8461792589709000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(replay): 补齐GPU搜索退出路径的真实后端证据
2026-10-21 21:35:09 +080050c05a9293f734b8b2018560c5d1d7f94ba9f846fix(replay): 补齐GPU搜索退出路径的真实后端证据addssep/offboard/scene_migration/search_exit_observation.pyeditssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/offboard/scene_migration/test_search_exit_observation.pyeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/offboard/scene_migration/instrument_legacy.pyeditssep/test/bidirectional_candidate_validation_test.cc
- data/ssep/forward_ec.cpp759694c652a512ecc4595204bd5718e1fcd86d581792589986000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整振石搜索起点并放开任务途经点支持
振石入场搜索起点使用通用历史路径投影逻辑，历史路径不可用时使用实车姿态。取消任务搜索途经点的场地限制，保留原有合成途经点的场地条件。
2026-10-21 21:39:46 +0800759694c652a512ecc4595204bd5718e1fcd86d58fix: 调整振石搜索起点并放开任务途经点支持editdata/ssep/forward_ec.cpp
- Testing/search_decider_lifecycle_test.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/plan/ssep_task_context.cpp39e306347ad15cbf6e9cab490f05656799005a261792595083000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复出堆场新任务等停与同路线搜索复用
弯内首次搜索在车辆移动及已停稳时均保持等停，构造失败和输入恢复不释放停车。
按实际目标车道和转向决定任务切换是否复用搜索路径，避免仅目的坐标变化导致重复搜索。
补充任务取消、区域漂移、停稳构造恢复及目标车道变化的生命周期回归。
2026-10-21 23:04:43 +080039e306347ad15cbf6e9cab490f05656799005a26fix: 修复出堆场新任务等停与同路线搜索复用editdata/plan/ssep_task_context.cppeditTesting/search_decider_lifecycle_test.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cpp
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/map/envelop/async_union_region_state.hppTesting/map_envelops_async_test.cppreplayer/scene_data/full_custom_codec_exclusions.yamldata/map/envelop/map_envelops.cppf6a38bde6cf4220aeaefad82d57aa53f292cb8c21792595092000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止包络更新沿用旧异步搜索区域
比较实际包络几何，变化后清空旧轮廓并替换异步状态，隔离旧任务迟到结果。
同几何周期刷新保留可用轮廓，空输入立即失效；计算线程只持有不可变几何输入。
补充区域失效和恢复测试，更新运行态缓存说明及生成审计记录。
2026-10-21 23:04:52 +0800f6a38bde6cf4220aeaefad82d57aa53f292cb8c2fix: 防止包络更新沿用旧异步搜索区域editdata/map/envelop/map_envelops.cppeditreplayer/scene_data/full_custom_codec_exclusions.yamleditdata/map/envelop/async_union_region_state.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/map_envelops_async_test.cpp
- Testing/ssep_path_corridor_test.cppdata/ssep/ssep_ec.cpp73e62bac6deebc8cda7d8ba9bf643a6b9b309d881792595100000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 使用录制轮角恢复牵引车停稳搜索起点
底盘同步队列缺失时，普通牵引车使用已记录的同语义转角百分比恢复起点轮角。
保留实时队列优先及原单位换算，拒绝缺少轮角、非有限值和八轮语义不匹配输入。
补充 Compact 解码后的起点构造及无效输入回归。
2026-10-21 23:05:00 +080073e62bac6deebc8cda7d8ba9bf643a6b9b309d88fix: 使用录制轮角恢复牵引车停稳搜索起点editdata/ssep/ssep_ec.cppeditTesting/ssep_path_corridor_test.cpp
- Testing/out_yard_bag_regression_test.cppTesting/CMakeLists.txtafe1282ef3bd0ec33465f810a07c5d7c04c3d59a1792595108000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加出堆场新任务原包回放验证
使用版本化 Compact 解码、精确地图校验和 ReplayerDataProcess 重建原包输入。
顺序执行真实搜索决策与停车约束，核验首次请求前等停及目标点位于提交区域内。
输出全部帧和重建失败证据，首次请求后只继续解码，不模拟搜索求解或车辆闭环。
2026-10-21 23:05:08 +0800afe1282ef3bd0ec33465f810a07c5d7c04c3d59atest: 增加出堆场新任务原包回放验证addTesting/out_yard_bag_regression_test.cppeditTesting/CMakeLists.txt
- replayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cpp248596e4d87b231e85606b3d93f99c042c08c9751792609482000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(replay): 保留双向 IMV 车型子类型
CfgStatic writer 先识别双向 IMV 并保存原配置值 11，避免 VehicleConfig 两类算法分派函数把它折叠为普通 IMV 的 1。现有 field16 int32、decoder 和运行时分派行为不变，缺失值仍恢复牵引车 0；不猜测恢复已经保存为 1 的历史记录。
登记精确整数的字段策略，增加直接 codec、Full（检查 gaps）、Compact Recorded/Candidate 的 0/1/11 往返、源对象不变及缺字段清除旧子类型测试。
验证：实际 foundation 构建通过，完整目标 464 项执行通过、8 项已有外部夹具跳过单列，两项新增回归确实执行。11 个统一生成命令和 31 个合同检查退出 0；严格 breaking 仍退出 1，精确保留此前批准的同一组 21 项差异。
2026-10-22 03:04:42 +0800248596e4d87b231e85606b3d93f99c042c08c975fix(replay): 保留双向 IMV 车型子类型editreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/config_proto_codec.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.md
- ssep/ssep_path_finalizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/cost_features/imv_normalized_motion_limit_constraint.hssep/keb_optimizer/keb_problem.ccssep/test/local_regression/published_fields_policy.jsonssep/scenarios/imv_physical_repair_map.hssep/scenarios/imv_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/test/imv_enter_station_candidate_test.ccssep/test/ssep_path_artifact_test.ccssep/keb_optimizer/keb_problem.hssep/scenarios/imv_optimized_prefix_repair.hssep/scenarios/imv_path_validation.h4e7eb33728fc3f4dfb198e2280c0af55859609191792609555000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 校验并修复 IMV 通用与进站路径的物理连续性
在既有有限重试内修复优化初值、数值固定尾段和车体朝向连续性；第三次修复按实际曲率归一化权重，并以原运动学门槛约束优化。通用与进站路径同时检查原始和实际发布路径的完整车体，覆盖两张有效障碍图，避免不安全结果由路径物化或回退绕过。
保留原场景、规则、安全阈值、求解预算和其它调用方默认行为。本提交不包含泊车 E 系列修复。
验证：精确独立包 75 项单测通过；28 场景各 3 组 CPU 配对，共 168 次规划均成功，72 个质量回执通过、12 个原始障碍接触回执原样保留，不计通过。独立审查已完成；最终数据与限定例外证据仍由后续全量验收决定。
2026-10-22 03:05:55 +08004e7eb33728fc3f4dfb198e2280c0af5585960919fix(ssep): 校验并修复 IMV 通用与进站路径的物理连续性editssep/keb_optimizer/keb_problem.cceditssep/scenarios/imv_path_validation.heditssep/test/imv_enter_station_candidate_test.cceditssep/scenarios/imv_general_planner.heditssep/keb_optimizer/keb_problem.heditssep/test/local_regression/published_fields_policy.jsoneditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/imv_enter_station_planner.heditssep/ssep_path_finalizer.ccaddssep/scenarios/imv_physical_repair_map.heditssep/test/ssep_path_artifact_test.cceditssep/keb_optimizer/imv_keb_optimizer.haddssep/scenarios/imv_optimized_prefix_repair.haddssep/keb_optimizer/cost_features/imv_normalized_motion_limit_constraint.h
- ssep/test/local_regression/published_fields_policy.jsonssep/test/imv_turnaround_reference_test.ccssep/scenarios/imv_parking_physical_contract.hssep/test/imv_parking_history_test.ccssep/ssep_path_finalizer.ccssep/test/ssep_path_artifact_test.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/stitching_replanner.hssep/scenarios/imv_multi_segment_parking_planner.hdfa9753c6f8956cefc7f82438910b6697841aaed1792609634000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 保持 IMV 泊车机械限制并封闭不安全回退
将请求限制与实际车辆机械限制同时纳入泊车校验；在原有限重试内重新优化不合格初值，只释放无真实途经/直线任务的无效数值尾段，固定真实终点和控制量。完整检查新规划 primary/coarse 路径的原始及实际发布车体/运动学，避免普通物化回退重新接受已拒绝结果。
保留真实途经、直线段和历史路径的原有合同，不改变场景、规则、安全阈值或求解预算。
验证：相关 46 项泊车/历史回归及 25 项最终路径边界测试通过；12 场景各 3 组配对，两侧 72 次规划均成功，30 个质量回执通过，6 个原始障碍接触回执保留，不计通过。精确累计包经独立审查，组合版本另有 163 项实际单测及 51 组配对验证；最终 clean C 及完整清障例外证明另行验收。
2026-10-22 03:07:14 +0800dfa9753c6f8956cefc7f82438910b6697841aaedfix(ssep): 保持 IMV 泊车机械限制并封闭不安全回退editssep/test/local_regression/published_fields_policy.jsoneditssep/test/imv_turnaround_reference_test.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.haddssep/scenarios/imv_parking_physical_contract.heditssep/ssep_path_finalizer.cceditssep/test/ssep_path_artifact_test.cceditssep/scenarios/stitching_replanner.heditssep/test/imv_parking_history_test.cc
- ssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/rigid_truck_parking_body_validation.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/ssep_path_finalizer.ccssep/test/local_regression/published_fields_quality.pyssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/rigid_body_line_collision_cost.hssep/keb_optimizer/goal_entry_cost.hssep/test/local_regression/test_published_fields_quality.pyssep/test/local_regression/published_fields_policy.jsonssep/test/ssep_path_artifact_test.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/test/truck_parking_retry_test.ccssep/keb_optimizer/keb_problem.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/rigid_truck_parking_validation.h885cb55610a985a969f515c72f110b1a3b3909131792609692000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(ssep): 保证 CAR 泊车完整车体和终段进入约束
在既有重试预算内同时检查原始及发布路径的完整车体，最后一次必要修复加入有限线段车体成本及终点进入成本，并按实际机械曲率限制修复控制量。保留 standalone Accurate 的原默认范围，只有 Multi 及显式启用的回退使用新增物理约束。
CAR Multi 发布路径首段入口曲率按实际相邻车体朝向恢复，保留原转向计算及其它车型/尾部行为；独立校验器与真实物化公式一致，原质量阈值不变。共享 KebProblem 方法与已合入的 IMV 修复同时保留。
验证：F14 精确包 59 项测试通过、1 项原 disabled 不计通过；18 场景各 3 组两侧共 108 次 CPU 规划均成功，33 个质量回执通过、21 个原始障碍接触回执保留。完整 G1 和三组修复组合实际 163 项 C++、77 项 Python 测试通过，17 场景各 3 组规划均成功。
独立审查覆盖真实产物、完整图数组、History/FullPlanning 来源及默认门控。RAW 接触已有独立开发清障证明，仍不计通过；原始失败回执和数值差异保留。新消费者的最终源码/预处理闭包及 clean C 全量 CPU/GPU 验收仍为后续门禁。
2026-10-22 03:08:12 +0800885cb55610a985a969f515c72f110b1a3b390913fix(ssep): 保证 CAR 泊车完整车体和终段进入约束editssep/ssep_path_finalizer.cceditssep/test/local_regression/published_fields_quality.pyeditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/local_regression/test_published_fields_quality.pyeditssep/test/ssep_path_artifact_test.cceditssep/keb_optimizer/keb_problem.ccaddssep/keb_optimizer/rigid_body_line_collision_cost.heditssep/test/truck_parking_retry_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.haddssep/keb_optimizer/goal_entry_cost.heditssep/test/local_regression/published_fields_policy.jsoneditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_multi_segment_parking_planner.haddssep/scenarios/rigid_truck_parking_body_validation.heditssep/scenarios/truck_accurate_reversing_planner.heditssep/scenarios/rigid_truck_parking_validation.h
- ssep/offboard/scene_migration/search_exit_observation.pyssep/offboard/scene_migration/approved_missing_scenes_759694.jsonssep/offboard/scene_migration/baseline_profiles.pyssep/offboard/scene_migration/test_baseline_profiles.pyssep/offboard/scene_migration/coverage_registry.pyb020a93635eafc2ea8f70dc195e35324cc4e890e1792609976000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(migration): 登记 Daxie 759694 精确基线 profile
为明确的主分支提交固定源码、插桩、规则和 descriptor 身份，同时保留旧基线 profile 与缺失记录原字节。新增基线仍只登记相同的 8 条已接受缺失记录，不改变转换范围或配置实验分母。
验证：6 项 profile 测试通过；精确 759694 reader 实际构建，文本 IMV/TT/CAR 与 Boost 四个 prepare 冒烟通过，独立核查源码快照与产物身份。prepare 不计规划/GPU成功；最新 AFE profile 与最终批次另行冻结验证。
2026-10-22 03:12:56 +0800b020a93635eafc2ea8f70dc195e35324cc4e890efeat(migration): 登记 Daxie 759694 精确基线 profileeditssep/offboard/scene_migration/baseline_profiles.pyeditssep/offboard/scene_migration/coverage_registry.pyeditssep/offboard/scene_migration/test_baseline_profiles.pyaddssep/offboard/scene_migration/approved_missing_scenes_759694.jsoneditssep/offboard/scene_migration/search_exit_observation.py
- ssep/offboard/scene_migration/integration_scope_v4.pyssep/offboard/scene_migration/testdata/source_clearing_decision_v4.jsonssep/offboard/scene_migration/test_source_clearing_geometry.pyssep/offboard/scene_migration/source_clearing.pyssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/integration_scope_v4.jsonssep/offboard/scene_migration/acceptance_matrix.pyssep/offboard/scene_migration/source_clearing_policy.pyssep/offboard/scene_migration/integration_scope.pyssep/offboard/scene_migration/test_integration_scope_v4.pyssep/offboard/scene_migration/test_source_clearing.pyssep/offboard/scene_migration/source_clearing_clipping.pyssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/source_clearing_geometry.py68203afe8133ff03bed7c5104a91faf58562e49b1792610160000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(validation): 按实际清障合同登记限定例外
执行前固定全部 438 配置的源身份和清障资格；资格本身不产生例外。分别核对两侧实际移除的原始障碍片段、完整栅格与剩余边界，以及原始车体完整扫掠；只有精确落在实际清障区域的接触才能登记 accepted_exception，不计通过。
保持 370 原始场景、67 overlay、1 参数实验及 29 固定例外账本，原数据、规则、阈值与旧回执不变。最终校验从同批次 proof_ref 重算，拒绝调包质量回执、批次外证明、缺少登记及篡改证明；区域外、机械、任务等错误仍阻断。专项 profile RAW 尚保守拒绝，由后续独立增量支持。
验证：开发包 329 项测试通过，独立核验真实三轮 final-entry 的 1 正 5 负；主工作区 42 项相关测试通过。限定源码/数学范围已独立审查，最终候选身份闭包与全量验收另行冻结。
2026-10-22 03:16:00 +080068203afe8133ff03bed7c5104a91faf58562e49bfeat(validation): 按实际清障合同登记限定例外editssep/offboard/scene_migration/integration_scope.pyaddssep/offboard/scene_migration/integration_scope_v4.pyaddssep/offboard/scene_migration/integration_scope_v4.jsonaddssep/offboard/scene_migration/source_clearing_clipping.pyaddssep/offboard/scene_migration/test_source_clearing_geometry.pyaddssep/offboard/scene_migration/testdata/source_clearing_decision_v4.jsonaddssep/offboard/scene_migration/source_clearing.pyaddssep/offboard/scene_migration/test_source_clearing.pyeditssep/offboard/scene_migration/freeze_ssep_corpus.pyaddssep/offboard/scene_migration/source_clearing_geometry.pyeditssep/offboard/scene_migration/compare_ssep_corpus.pyaddssep/offboard/scene_migration/test_integration_scope_v4.pyeditssep/offboard/scene_migration/acceptance_matrix.pyaddssep/offboard/scene_migration/source_clearing_policy.py
- ssep/offboard/scene_migration/source_clearing.pyssep/offboard/scene_migration/test_source_clearing_profiles.pyssep/offboard/scene_migration/source_clearing_profiles.py6c8af1eb52e8602cb0e06f32a9eb00b9214004fb1792610468000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 对专项报告的每条实际路径分别证明清障例外
对 rigid parking 专项报告分别验证实际 published 路径和所选 FullPlanning/HistoryRefinement/Repository 原始路径，重新计算原始 RAW 碰撞及完整清障证明。只有每份实际报告均匹配来源、路径、几何和非 RAW 结果时，才能登记限定例外；不按错误文本批量删除碰撞，也不借通用报告替代另一条轨迹。
原质量回执、数据、规则、阈值及非 RAW 错误保留。开发数学证明不计正式功能通过。
验证：开发完整 344 项测试通过，独立 15 项专项及真实 Full/History 双路径证明、13 项真实篡改拒绝通过；主工作区累计 57 项相关测试通过。F14 21 次、96fb 3 次及组合 18 次 RAW 接触已完成只读开发证明，最终 clean C/source closure 和全量验收仍另行执行。
2026-10-22 03:21:08 +08006c8af1eb52e8602cb0e06f32a9eb00b9214004fbfix(validation): 对专项报告的每条实际路径分别证明清障例外editssep/offboard/scene_migration/source_clearing.pyaddssep/offboard/scene_migration/test_source_clearing_profiles.pyaddssep/offboard/scene_migration/source_clearing_profiles.py
- ssep/offboard/scene_migration/search_exit_observation.pyssep/offboard/scene_migration/approved_missing_scenes_afe1282.jsonssep/offboard/scene_migration/baseline_profiles.pyssep/offboard/scene_migration/test_baseline_profiles.pyssep/offboard/scene_migration/coverage_registry.py80fb24c6163a2fc725d9321692833c12115213451792611102000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(migration): 固定最新 Daxie AFE 基线身份
新增 afe1282ef3 精确源码/规则/descriptor profile 与同一组 8 条缺失记录身份，保留所有旧版本 profile。转换及配置实验分母保持不变。
验证：7 项 profile 测试及独立静态源码审查通过；最新 AFE CPU/CUDA reader 已实际构建，4 个代表输入完成 reader→writer→current prepare 精确链路。prepare 不计规划或 GPU 搜索通过，真实搜索及最终 clean C 批次另行验收。
2026-10-22 03:31:42 +080080fb24c6163a2fc725d9321692833c1211521345feat(migration): 固定最新 Daxie AFE 基线身份editssep/offboard/scene_migration/baseline_profiles.pyeditssep/offboard/scene_migration/coverage_registry.pyeditssep/offboard/scene_migration/test_baseline_profiles.pyeditssep/offboard/scene_migration/search_exit_observation.pyaddssep/offboard/scene_migration/approved_missing_scenes_afe1282.json
- ssep/offboard/scene_migration/preprocessing_geometry_policy_profiles.jsonssep/offboard/scene_migration/preprocessing_geometry.pyssep/offboard/scene_migration/test_preprocessing_geometry.pyssep/offboard/scene_migration/test_preprocessing_geometry_profiles.py93348ae902f348b8d2062befa4145f9e256d277a1792611358000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(validation): 为预处理证明绑定完整源码与消费者
保留旧基线 policy 和原硬碰撞/WBCA 数学判断。新增精确 AFE profile：正式证明必须绑定干净候选、完整两侧消费者/支持源码、观察器头文件、真实产物身份及独立审查回执。
将新车体软成本明确登记为 proposal 消费者，不宣称软目标、路径或时限数值等价；功能、质量与预算仍须实际配对验证。独立开发补证只返回 proved_development_only，正式 covers 必须拒绝，禁止把旧失败矩阵重标为新候选通过。
验证：50 项测试通过并经独立复验，旧 policy 原字节及核心数学保持。17 场景各 3 对原始执行完成真实只读开发补证，1075 个原引用未变；原质量和预处理结论全部保留。最终 AFE/clean C policy 仍须另外生成、审查和冻结。
2026-10-22 03:35:58 +080093348ae902f348b8d2062befa4145f9e256d277afeat(validation): 为预处理证明绑定完整源码与消费者addssep/offboard/scene_migration/test_preprocessing_geometry_profiles.pyaddssep/offboard/scene_migration/preprocessing_geometry_policy_profiles.jsoneditssep/offboard/scene_migration/test_preprocessing_geometry.pyeditssep/offboard/scene_migration/preprocessing_geometry.py
- ssep/offboard/scene_migration/test_integration_scope_v4.pyssep/offboard/scene_migration/test_freeze_preprocessing_binding.pyssep/offboard/scene_migration/integration_scope_v4.pyssep/offboard/scene_migration/freeze_ssep_corpus.pyssep/offboard/scene_migration/integration_scope_v4.json1390b74022252e44309983b1339898495aeebdd21792611821000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat(validation): 在冻结时绑定新基线与双重几何审查
清障范围通过已登记的精确基线 profile 和独立 B/C 生产者审查选择，避免把主分支前进误当成用户范围授权变化。保持 438 配置、29 固定例外和全部源身份，条件资格不计例外或通过。
新增冻结时的 preprocessing policy/review 入口，使用公开 schema2 校验接口，缺少最终候选身份、源码闭包或独立证据时拒绝开始验收。旧 scope、旧 policy 与既有报告保持原样。
验证：开发全套 351 项测试通过，独立 13 项接口/范围测试及真实 391 文件库存核查通过；主工作区与 schema2、profile 路径和基线接口组合的 120 项测试通过。最终 clean C policy 与实际正式执行尚须单独冻结。
2026-10-22 03:43:41 +08001390b74022252e44309983b1339898495aeebdd2feat(validation): 在冻结时绑定新基线与双重几何审查editssep/offboard/scene_migration/test_integration_scope_v4.pyaddssep/offboard/scene_migration/test_freeze_preprocessing_binding.pyeditssep/offboard/scene_migration/integration_scope_v4.jsoneditssep/offboard/scene_migration/freeze_ssep_corpus.pyeditssep/offboard/scene_migration/integration_scope_v4.py
- ssep/offboard/scene_migration/search_observation_json.hppssep/offboard/scene_migration/instrument_legacy.pyssep/offboard/scene_migration/search_exit_observation.pyssep/coarse_search/gpu_sampling_observation.hssep/offboard/scene_migration/test_gpu_call_observation.pyssep/gpu/samplers/sampler_bridge.cussep/test/bidirectional_candidate_validation_test.ccssep/offboard/scene_migration/test_comparison.pyssep/gpu/samplers/sampler_bridge.hssep/offboard/scene_migration/test_search_exit_observation.pyssep/offboard/scene_migration/selected_gpu_search.pyssep/offboard/scene_migration/legacy_ssep_probe.ccssep/offboard/scene_migration/test_selected_gpu_search.pyssep/offboard/scene_migration/gpu_call_observation.pyssep/offboard/scene_migration/legacy_probe_hooks.ccssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/offboard/scene_migration/current_ssep_probe.ccssep/offboard/scene_migration/compare_ssep_corpus.pyssep/offboard/scene_migration/legacy_probe_hooks.hppssep/offboard/scene_migration/functional_acceptance.pyssep/offboard/scene_migration/test_functional_acceptance.py3e3db723f219eaba50be1bbc0e40e492bb1412391792612778000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 依据真实 GPU 调用及所选搜索路径验收后端
仅在原 CUDA kernel 及既有同步成功后记录同次搜索的采样父节点/primitive 证据，区分 CPU 根预采样；观察逻辑不增加同步或改变策略、预算和搜索分支。记录实际成功 Search 返回路径，当前端按真实 artifact DAG、历史端按实际选中 coarse 路径匹配所选 scope；丢弃的 GPU 搜索、根节点和 CPU fallback 不能借证通过。
保留旧观察协议复现，新增精确版本的观测源码/头文件身份。修复历史 BuildIdentity 空 candidate_commit 占位的解析误拒。已有 scope v4、逐路径清障和冻结账本通过三方 hunk 合并保留。
验证：精确观察包 CPU/CUDA 实际构建，59 项 CPU 测试通过；新 AFE reader 四种输入 prepare 链路通过。真实 GPU 配对两侧均匹配实际所选 scope3（120 次采样调用），最后一次成功但未采用的 scope6 不计入；原六段路径违反两段规则的质量失败保留。
主工作区组合 402 项 Python/native-prepare 测试通过，无跳过，独立复核共享函数 AST 与观察链。以上为阶段开发验证，最终 clean C 仍须全量验收。
2026-10-22 03:59:38 +08003e3db723f219eaba50be1bbc0e40e492bb141239fix(validation): 依据真实 GPU 调用及所选搜索路径验收后端editssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.cceditssep/gpu/samplers/sampler_bridge.heditssep/offboard/scene_migration/instrument_legacy.pyeditssep/offboard/scene_migration/test_search_exit_observation.pyeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/offboard/scene_migration/test_functional_acceptance.pyaddssep/offboard/scene_migration/gpu_call_observation.pyeditssep/gpu/samplers/sampler_bridge.cuaddssep/offboard/scene_migration/search_observation_json.hppeditssep/offboard/scene_migration/functional_acceptance.pyeditssep/offboard/scene_migration/search_exit_observation.pyeditssep/offboard/scene_migration/legacy_probe_hooks.cceditssep/offboard/scene_migration/legacy_ssep_probe.ccaddssep/coarse_search/gpu_sampling_observation.heditssep/offboard/scene_migration/legacy_probe_hooks.hppaddssep/offboard/scene_migration/selected_gpu_search.pyeditssep/test/bidirectional_candidate_validation_test.cceditssep/offboard/scene_migration/compare_ssep_corpus.pyeditssep/offboard/scene_migration/current_ssep_probe.cceditssep/offboard/scene_migration/test_comparison.pyaddssep/offboard/scene_migration/test_gpu_call_observation.pyaddssep/offboard/scene_migration/test_selected_gpu_search.py
- ssep/offboard/scene_migration/functional_acceptance.pyssep/offboard/scene_migration/test_functional_acceptance.pye5349731915118fa47ce7a9335cdafe3ee936b081792612833000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(validation): 用真实所选 GPU 路径消除已审 TT 路由歧义
对已审 TT15 输入中静态路由为 None 的情况，要求两侧真实 GPU 调用、非根扩展和实际所选路径图均完整验证后才能确定后端。保留 prepare 原值，不缩减 GPU 分母；明确不适用、CPU 回退、根节点、混合或缺失证据仍拒绝。
质量、安全和任务规则保持原样，四项待确认的 TT 段数问题仍按原要求阻断。
验证：主工作区真实 selector v3 组合的 52 项测试通过，含缺失/CPU fallback/root-only 负向，独立审查通过。合成证据单测不计实际 GPU 或最终全量验收。
2026-10-22 04:00:33 +0800e5349731915118fa47ce7a9335cdafe3ee936b08fix(validation): 用真实所选 GPU 路径消除已审 TT 路由歧义editssep/offboard/scene_migration/test_functional_acceptance.pyeditssep/offboard/scene_migration/functional_acceptance.py
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/dp_poly_path/trajectory_cost_test.cppdata/dp_poly_path/trajectory_cost.hppdata/dp_poly_path/trajectory_cost.cppc1672596107672ca46e174310d7ac34b8f92d2271792630454000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓存会车资格检查以消除横向规划卡顿
在单次 DP 搜索内按纵向段最大 s 复用会车资格，避免每条候选边
重复投影车体角点和扫描引导线；切段重算，每次规划重新创建缓存。
保持各候选曲线的代价、碰撞判断和会车语义不变。
补充不同横向候选、入口与跨弯切换及新帧重建的代价一致性回归，
同步生成数据头文件审计哈希。
验证：319 项测试通过，pnc_node 分布式构建成功。
杨浦 VV099 的 460 帧 Compact CPU 重建输出逐字节一致；
本机慢帧段走廊/DP 耗时中位数由 732 ms 降至 32.7 ms，
最大值由 1282 ms 降至 55.4 ms。尚未进行现场 Orin 部署验证。
2026-10-22 08:54:14 +0800c1672596107672ca46e174310d7ac34b8f92d227fix: 缓存会车资格检查以消除横向规划卡顿editdata/dp_poly_path/trajectory_cost_test.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/dp_poly_path/trajectory_cost.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- AGENTS.md4a5d033c002238a9c19bfdd98abf043796ef6cf91792637481000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs: 调整 GPU 测试环境为服务器优先
PNC / SSEP GPU 编译、测试和场景回放先检查服务器 SSH 连接，可连接时优先使用服务器。
服务器无法连接时，检查本机环境并在满足验证要求后使用本机，记录连接失败及切换原因。
保留执行前 GPU 环境检查、测试授权、凭据保护及独立工作目录要求。
2026-10-22 10:51:21 +08004a5d033c002238a9c19bfdd98abf043796ef6cf9docs: 调整 GPU 测试环境为服务器优先editAGENTS.md
- replayer/scene_data/generated/full_custom_cpp_member_inputs.json78b6293adfef6322923fc353c9863b392f0870d01792638384000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix: 数据指纹阻碍编译
2026-10-22 11:06:24 +080078b6293adfef6322923fc353c9863b392f0870d0fix: 数据指纹阻碍编译editreplayer/scene_data/generated/full_custom_cpp_member_inputs.json
- common/zip/mini_zip.cppabc84b26ca8b95bf9bd85401b59a06b2da25be5b1792641729000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(zip): 避免创建条目失败时关闭未初始化指针
2026-10-22 12:02:09 +0800abc84b26ca8b95bf9bd85401b59a06b2da25be5bfix(zip): 避免创建条目失败时关闭未初始化指针editcommon/zip/mini_zip.cpp
- ssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/bidirectional_candidate_validation_test.ccssep/maps/ogm_builder.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/test/rigid_parking_collision_test.ccssep/test/hard_tail_straight_test.ccssep/test/truck_parking_retry_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/test/parking_collision_provenance_test.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/rigid_parking_collision.hssep/scenarios/rigid_truck_parking_validation.hssep/scenarios/truck_accurate_reversing_planner.hssep/test/parking_history_collision_test.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/test/rigid_truck_parking_validation_test.ccssep/maps/ogm.ccdocs/ssep_scenario_config_lifecycle.mdssep/test/rigid_truck_tail_connection_test.ccssep/test/ssep_planner_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/scenarios/stitching_replanner.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/maps/ogm_builder.hssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/scenarios/tail_straight_distance.hssep/test/hard_tail_optimizer_test.ccb4184f729aef1c9bec8685e315b9795e9516147a1792659988000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保证刚性车停车末端直线与调整段碰撞约束
沿用场景 tail_straight_distance，在搜索、KEB 优化、历史重接及最终输出中保证末端纯直线。保留终点清障来源，仅最后连续同向段允许终点障碍豁免，覆盖多段倒车和精准倒车。
硬尾连接异常先经完整优化验收，失败时恢复后续搜索策略机会，并禁止匹配移动实际起点。补充碰撞、硬尾、缓存和重试测试。
验证：114 项相关 C++ 测试通过；31 个原始场景回放 27 通过、4 个既有失败，无新增失败。实际后端 30 CPU、1 未确认；未做 GPU 验证。
2026-10-22 17:06:28 +0800b4184f729aef1c9bec8685e315b9795e9516147afix: 保证刚性车停车末端直线与调整段碰撞约束editssep/test/rigid_truck_tail_connection_test.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/maps/ogm.heditssep/test/ssep_planner_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditssep/test/CMakeLists.txteditssep/scenarios/rigid_truck_parking_validation.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccaddssep/scenarios/rigid_parking_collision.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/test/hard_tail_optimizer_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/scenarios/tail_straight_distance.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/maps/ogm.cceditssep/maps/ogm_builder.cceditssep/scenarios/stitching_replanner.heditssep/test/bidirectional_candidate_validation_test.cceditssep/maps/ogm_config_utils.cceditssep/scenarios/truck_accurate_reversing_planner.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditdocs/ssep_scenario_config_lifecycle.mdeditssep/maps/ogm_builder.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/parking_collision_provenance_test.cceditssep/test/rigid_truck_parking_validation_test.cceditssep/test/truck_parking_retry_test.ccaddssep/test/hard_tail_straight_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccaddssep/test/rigid_parking_collision_test.cceditssep/test/parking_history_collision_test.cc
- ssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.jsonssep/test/local_regression/weiqiao_rigid_parking_cases.jsonssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/weiqiao_rigid_parking_quality.jsonssep/test/local_regression/recorded_20261013_14_cases.jsonssep/test/local_regression/recorded_20261013_14_manifest.tsvssep/test/local_regression/selection_review_20261014_cases.jsonssep/test/local_regression/selection_review_20261022_cases.jsonssep/test/local_regression/weiqiao_rigid_parking_manifest.tsvssep/test/local_regression/test_weiqiao_rigid_parking_quality.pyssep/test/local_regression/imv_jiaxing_20261015_provenance.jsonssep/test/local_regression/rigid_parking_quality.pyssep/test/local_regression/rigid_tail_review_20261022_cases.jsonssep/test/local_regression/imv_jiaxing_20261015_cases.jsonssep/test/local_regression/imv_heading_unverified_20261022_cases.jsonssep/test/local_regression/rigid_parking_collision_quality.pyssep/test/local_regression/imv_jiaxing_20261015_manifest.tsvssep/test/local_regression/test_materialize_imv_jiaxing_regression.pyssep/test/local_regression/materialize_imv_jiaxing_regression.pyssep/test/local_regression/imv_bulkout_manifest.tsvbbdfc4991ca5c456539930d8d5c80e23089ab1e41792660035000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 更新魏桥停车回归验收与场景剔除记录
加入 21 个魏桥多段倒车和精准倒车案例，补充末端硬直线、完整车体碰撞及运动学验收。嘉兴物化流程跳过已剔除场景，保留来源和历史决策。
按用户明确选择同步移除清单与决策映射，包括方向无法独立确认的 IMV 案例及最终指定的 4 个失败案例。后 4 例已核对 SHA 并按授权删除共享回归原件和 v3 临时输入副本，保留历史报告。记录当前全量计划范围 352 例，本次仅调整范围，未重新全量回放。
验证：37 项 Python 测试通过；决策映射无状态冲突，活动清单不含已剔除 SHA，来源计数一致，diff 检查通过。
2026-10-22 17:07:15 +0800bbdfc4991ca5c456539930d8d5c80e23089ab1e4test: 更新魏桥停车回归验收与场景剔除记录editssep/test/local_regression/rigid_parking_collision_quality.pyeditssep/test/local_regression/imv_jiaxing_20261015_cases.jsoneditssep/test/local_regression/imv_jiaxing_20261015_provenance.jsoneditssep/test/local_regression/selection_review_20261014_cases.jsonaddssep/test/local_regression/selection_review_20261022_cases.jsonaddssep/test/local_regression/test_materialize_imv_jiaxing_regression.pyeditssep/test/local_regression/rigid_parking_quality.pyaddssep/test/local_regression/rigid_tail_review_20261022_cases.jsoneditssep/test/local_regression/imv_bulkout_manifest.tsveditssep/test/local_regression/imv_jiaxing_20261015_manifest.tsveditssep/test/local_regression/recorded_20261013_14_cases.jsoneditssep/test/local_regression/rigid_parking_motion_quality.pyaddssep/test/local_regression/weiqiao_rigid_parking_quality.jsoneditssep/test/local_regression/recorded_20261013_14_manifest.tsveditssep/test/local_regression/README.mdaddssep/test/local_regression/imv_heading_unverified_20261022_cases.jsoneditssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.jsoneditssep/test/local_regression/materialize_imv_jiaxing_regression.pyaddssep/test/local_regression/test_weiqiao_rigid_parking_quality.pyaddssep/test/local_regression/weiqiao_rigid_parking_manifest.tsvaddssep/test/local_regression/weiqiao_rigid_parking_cases.json
- Testing/wbca_smooth_continuity_test.cpptasks/plan/path_optimization_task.hpptasks/plan/path_optimization_task.cppa2799372826ea3b7759b1cd27f94142c0bfdc3131792660479000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解除 WBCA 对 DP 截断长度的限制
DP 无完整可行解时继续保留可行前缀，WBCA 使用自身配置长度和完整边界生成路径，避免障碍导致 DP 截断后同步缩短优化路径。
移除初始化时的 DP 长度上限及异步结果尾点覆盖拒绝，清理无用接口与状态参数。
更新正倒车输出接纳测试，并增加版本化 Compact bag 回放验证。连续模式传递真实 WBCA 历史并调用生产路径拼接，避免遗漏历史前缀；报告完整输出逐帧结果和路径对照。
验证：Icecream 分布式编译通过；33 项单元测试及济宁 AT017 bag 回放测试通过，460 帧全部求解成功。截图帧 DP 长度 18.80 m，WBCA 长度 78.50 m，参考上限保持 80 m。回放为 CPU 状态串联开环，不是车辆闭环验证。
2026-10-22 17:14:39 +0800a2799372826ea3b7759b1cd27f94142c0bfdc313fix: 解除 WBCA 对 DP 截断长度的限制edittasks/plan/path_optimization_task.cppeditTesting/wbca_smooth_continuity_test.cppedittasks/plan/path_optimization_task.hpp
- ssep/coarse_search/evaluator/evaluator.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/state_hasher.h9b98dc555b8476e8bb4073d4e2f3b15d6df4022f1792662772000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 补充双向搜索近邻节点配对
同桶连接未通过时，按固定间隔补查相邻桶并筛选有限候选，继续复用原有方向、阶段和路径验收。排除根节点替换及明显曲率折点，并记录近邻连接统计。
2026-10-22 17:52:52 +08009b98dc555b8476e8bb4073d4e2f3b15d6df4022ffeat: 补充双向搜索近邻节点配对editssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/state_hasher.h
- data/dp_poly_path/trajectory_cost.hppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/plan_data.protodata/boundary/driving_corridor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hppreplayer/scene_data/generated/config_schema_inputs.jsondocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/dp_poly_path/dp_road_graph_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/dp_poly_path/dp_road_graph.cppreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/compact_driving_corridor_restore_test.cppdata/dp_poly_path/trajectory_cost_test.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb4e95f643b890889096f5952c32c3d002d83c68991792672666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持边界外障碍膨胀侵入走廊后的避让
新增默认关闭的边界外障碍膨胀开关，按障碍来源的安全余量更新走廊，
供 DP 撒点、曲线检查、历史路径复核及边界生成使用。
允许拼接起点在原始可行区域内连续恢复新增安全余量，按物理车身
覆盖断面计算初始缺口，并修正倒车车身姿态及前后悬断面定位。
同步 Full 字段与 Compact 重建、配置兼容及相关回归测试。
验证：此前相关单元测试和场景回放共 776 项通过、13 项跳过；
修改范围已使用项目 .clang-format 格式化，diff 检查通过。
已知问题：路径与车身均按 1 m 采样时，仍可能漏过 0.5 m 断面的
外部膨胀约束。已通过独立测试进程将步长改为默认值复现，尚未修复；
现有 0.1 m 步长用例未覆盖此组合。
2026-10-22 20:37:46 +08004e95f643b890889096f5952c32c3d002d83c6899feat: 支持边界外障碍膨胀侵入走廊后的避让editreplayer/scene_data/generated/config_schema_inputs.jsoneditdata/dp_poly_path/trajectory_cost.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditdata/dp_poly_path/trajectory_cost_test.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/dp_poly_path/dp_road_graph_test.cppeditdata/boundary/driving_corridor_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/config/cfg_func_sw.cppeditTesting/scene_replay_foundation_test.cppeditTesting/compact_driving_corridor_restore_test.cppeditdata/boundary/driving_corridor.hppeditdata/dp_poly_path/trajectory_cost.hppeditproto/config.protoeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditproto/plan_data.protoeditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/boundary/driving_corridor.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/plan_frame_encoder.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cppdocs/side_pass_function.mdTesting/path_bounds_reference_test.cpptasks/deciders/lat_decider/path_bounds_decider.hpp653fea95b136616c731002d7b125c5fa30d83b0d1792672676000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为启用外部障碍避让的前向参考预留一厘米余量
将前向参考限制在车身中心可行边界内并尽量预留两侧各 0.01 m，
不足 0.02 m 的区间取中点，不扩大硬边界或覆盖统一拼接起点。
关闭开关时保持原有参考行为，补充窄区间及开关回归测试和使用说明。
PJPO 保持原有求解及历史路径、引导线兜底链路，参考余量不构成
最终车身净距保证。相关单元测试和场景回放已验证。
2026-10-22 20:37:56 +0800653fea95b136616c731002d7b125c5fa30d83b0dfix: 为启用外部障碍避让的前向参考预留一厘米余量editdocs/side_pass_function.mdedittasks/deciders/lat_decider/path_bounds_decider.cppeditTesting/path_bounds_reference_test.cppedittasks/deciders/lat_decider/path_bounds_decider.hpp
- ssep/keb_optimizer/cost_features/cached_softmin_collision_cost.hssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/test/keb_softmin_collision_test.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/keb_optimizer/keb_problem.cc218c9fa35347c8a1220078006ee4ae0dfac1e0181792672691000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化碰撞代价求值并收紧近邻连接
1. 复用完全相同状态的障碍查询结果，保留距离、残差和导数的重新计算。
2. 按碰撞几何实际依赖将自动微分缩减为普通车3维、挂车4维，并由functor内部车型决定。
3. 仅对近邻连接增加铰接角差检查和拒绝诊断，保持同桶连接行为不变。
4. 增加原8维与缩减维度残差及Jacobian等价性测试，覆盖OGM和PhysicalSides。
2026-10-22 20:38:11 +0800218c9fa35347c8a1220078006ee4ae0dfac1e018feat: 优化碰撞代价求值并收紧近邻连接addssep/keb_optimizer/cost_features/cached_softmin_collision_cost.heditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditssep/keb_optimizer/keb_problem.cceditssep/test/keb_softmin_collision_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
- replayer/scene_data/generated/plan_frame_encoder.cpp756f4d60a73b642b22f6860ec7b969b24dfdf8701792673787000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复 Proto 编码器生成文件以通过构建门禁
通过 Taskfile 的统一生成流程恢复 plan_frame_encoder.cpp 的规范输出。
此前对生成文件执行 clang-format 拆分了 Schema 哈希字符串，导致
生成器逐字检查判定文件过期；本次不改变哈希内容、字段或编码逻辑。
验证：check-generated 和 check-proto-breaking 共 49 项检查全部通过，
git diff --check 通过。生成源码保持生成器原样，不再单独格式化。
2026-10-22 20:56:27 +0800756f4d60a73b642b22f6860ec7b969b24dfdf870fix: 恢复 Proto 编码器生成文件以通过构建门禁editreplayer/scene_data/generated/plan_frame_encoder.cpp
- tasks/deciders/lat_decider/switching_bounds_decider.cpptasks/deciders/lat_decider/switching_bounds_decider.hppTesting/CMakeLists.txtTesting/switching_bounds_decider_test.cpp90123b1a2f185075589e87b268b85c49ba7d55d81792678470000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正变道物理边界与目标参考线
按同一目标截面求源车道边界交点，合并源目标物理走廊并统一扣除车身尺寸，
移除人为窄边界及动力学外扩；横向参考收敛到选中的地图参考线。
处理局部线端部不外推及累计里程浮点舍入越界，补充左右变道、参考线偏移、
非平行、渐变宽度、圆弧和端部精度回归测试。
验证：分布式编译通过，相关单测 17/17 通过；现场 57 个变道帧的边界及
PJPO 任务成功。完整规划回放仍存在轨迹缺失，不作为整链通过结论。
2026-10-22 22:14:30 +080090123b1a2f185075589e87b268b85c49ba7d55d8fix: 修正变道物理边界与目标参考线edittasks/deciders/lat_decider/switching_bounds_decider.hppaddTesting/switching_bounds_decider_test.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditTesting/CMakeLists.txt
- Testing/lane_change_prepare_stage_test.cppreplayer/replayer_data_process/replayer_data_process.cppreplayer/algorithm_replay/production_variant_runner.cppscenarios/scenario_supervise.cppscenarios/scenario_supervise.hpp196b50e9903800862595aeb1f9f157331c5c59c51792678480000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复变道场景回放初始化与主参考线重建
增加独立回放初始化入口，允许 Compact 仅携带当前场景配置，
不再依赖 NORMAL_FOLLOW 配置，并覆盖缺失场景及旧配置清理。
变道执行阶段按目标参考线索引重建主原始参考线，保持线上主候选职责。
验证：回放初始化单测通过，原始场景 70 帧解码导出无 gaps；
完整轨迹验收仍未通过，未将导出成功等同完整规划成功。
2026-10-22 22:14:40 +0800196b50e9903800862595aeb1f9f157331c5c59c5fix: 修复变道场景回放初始化与主参考线重建editreplayer/replayer_data_process/replayer_data_process.cppeditreplayer/algorithm_replay/production_variant_runner.cppeditscenarios/scenario_supervise.hppeditscenarios/scenario_supervise.cppeditTesting/lane_change_prepare_stage_test.cpp
- ssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/scenario_optimizer_defaults.hssep/test/keb_parameter_unification_test.cc609ac8805131c5aeb7ecd2184cbd8982f298faa01792721126000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: tune trailer yard entry optimizer weights
2026-10-23 10:05:26 +0800609ac8805131c5aeb7ecd2184cbd8982f298faa0feat: tune trailer yard entry optimizer weightseditssep/test/keb_parameter_unification_test.cceditssep/keb_optimizer/scenario_optimizer_defaults.heditssep/keb_optimizer/PLANNING_PROFILES.md
- data/dp_poly_path/dp_road_graph.cppdata/dp_poly_path/dp_road_graph_test.cppf9102a9988d7540627efb09845941bc8f96afc551792724028000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免 DP 历史覆盖尾点累积为密集采样层
继承历史采样时移除临时覆盖终点并按当前走廊重建，保留稳定内部采样锚点。补充连续推进、走廊缩短、单尾点和方向切换回归。
2026-10-23 10:53:48 +0800f9102a9988d7540627efb09845941bc8f96afc55fix: 避免 DP 历史覆盖尾点累积为密集采样层editdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/dp_road_graph_test.cpp
- replayer/analysis_server/analysis_server_app.cppCMakeLists.txtTesting/analysis_server_app_test.cppf528907502c8642dcb18a0fcc88b71a8bc3a35361792724034000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 使用实际编译版本标识场景回放候选结果
将执行程序的 commit 和版本与归档兼容配置分开，避免报告把录制版本误标为当前候选版本。补充回归报告身份检查。
2026-10-23 10:53:54 +0800f528907502c8642dcb18a0fcc88b71a8bc3a3536fix: 使用实际编译版本标识场景回放候选结果editreplayer/analysis_server/analysis_server_app.cppeditCMakeLists.txteditTesting/analysis_server_app_test.cpp
- Testing/report_artifact_bundle_test.cppreplayer/algorithm_replay/profile_collectors.cppreplayer/algorithm_replay/report_artifact_bundle.cppTesting/profile_collectors_test.cppreplayer/algorithm_replay/report_artifact_bundle.hppb7c20014fa15817d9e22014ce8fdcf4a31a5658d1792724045000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补齐 DP 采样指标与逐帧回放报告
采集采样层数、位置、间距和有序性，区分稳定内部间距与临时末端覆盖。输出完整逐帧实际值、期望值和状态的 JSON 及离线 HTML，保留失败、缺失和非有限值证据，并补充相关测试。
2026-10-23 10:54:05 +0800b7c20014fa15817d9e22014ce8fdcf4a31a5658dfeat: 补齐 DP 采样指标与逐帧回放报告editTesting/profile_collectors_test.cppeditreplayer/algorithm_replay/report_artifact_bundle.cppeditTesting/report_artifact_bundle_test.cppeditreplayer/algorithm_replay/profile_collectors.cppeditreplayer/algorithm_replay/report_artifact_bundle.hpp
- scenarios/bulkload_scenario/bulkload_scenario.cpptasks/other_tasks/create_guide_line.hppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/bulkload_scenario/bulkload_scenario.hppTesting/compact_driving_corridor_restore_test.cppTesting/reference_line_replan_test.cpptasks/other_tasks/create_guide_line.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppd55adfbdde1124f42ff068042a1af809b67088681792730486000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐散货搜索交接帧的几何与轨迹规划
交接时恢复并重投影历史引导线及参考线，避免搜索等待沿用空几何。
仅在 MOVE_FORWARD 的 PARK_ADJUST/TRAVEL_OUT 交接中同帧执行 SSEP_FORWARD，保留正常任务链和统一规划起点。
初始化搜索前进阶段 next_stage，避免正常等待误结束场景。
补充历史失效、同帧调度、失败传播和有界跳转回归。
验证：阶段/引导线单测及 97 帧真实几何回归。完整轨迹连续性回放受缺失 Motion FSM 启动历史限制，未完成验收。
2026-10-23 12:41:26 +0800d55adfbdde1124f42ff068042a1af809b6708868fix: 补齐散货搜索交接帧的几何与轨迹规划editTesting/compact_driving_corridor_restore_test.cppeditscenarios/bulkload_scenario/bulkload_scenario.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_scenario.hppeditTesting/reference_line_replan_test.cppedittasks/other_tasks/create_guide_line.cppedittasks/other_tasks/create_guide_line.hpp
- replayer/algorithm_replay/profile_collectors.cppTesting/profile_collectors_test.cppc5323f6364cdffe1a5d47883d9586be234a31ed91792730496000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补充引导线和参考线回放诊断指标
分别采集有效标志、几何可用性、引导线点数、长度和匹配状态，避免仅凭 valid 标志判断规划几何完整。
增加有效标志为真但几何为空的回归检查。
验证：ProfileCollectorsTest 全部 7 项通过。
2026-10-23 12:41:36 +0800c5323f6364cdffe1a5d47883d9586be234a31ed9feat: 补充引导线和参考线回放诊断指标editTesting/profile_collectors_test.cppeditreplayer/algorithm_replay/profile_collectors.cpp
- tools/pnc_proto_mapper/generator.pyCMakeLists.txtbf30260fb6aebd263035e1ed177e0bcdb4ae68071792730963000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 Proto 生成检查与构建工具链的编译器
CMake 将已配置的 Protobuf_PROTOC_EXECUTABLE 显式传给生成脚本，避免 PATH 中旧版 protoc 拒绝 proto3 optional。使用原始 pnc-build.sh 命令验证 pnc_node 编译链接通过，生成描述符指纹保持不变。
2026-10-23 12:49:23 +0800bf30260fb6aebd263035e1ed177e0bcdb4ae6807fix: 统一 Proto 生成检查与构建工具链的编译器editCMakeLists.txtedittools/pnc_proto_mapper/generator.py
git- algorithm/ctrl/lat_controller/augment_mpc.cppb4ea6fa09b224e773dcfc467e97eb628c94571961792487885000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update the mpc_straight_lane_deviation condition
2026-10-20 17:18:05 +0800b4ea6fa09b224e773dcfc467e97eb628c9457196fix: update the mpc_straight_lane_deviation conditioneditalgorithm/ctrl/lat_controller/augment_mpc.cpp
- common/log/crash_handler.cpptest/crash_handler_probe.cppcommon/log/crash_handler.hppdocs/crash_capture.mdcommon/CMakeLists.txtnode/main.cppCMakeLists.txttest/CMakeLists.txttest/run_crash_capture_test.pyscripts/export_crash_symbols.py4bb128edc0c422dda621201847540efb597d6d6b1792500402000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: crash工具
2026-10-20 20:46:42 +08004bb128edc0c422dda621201847540efb597d6d6bfeat: crash工具addtest/run_crash_capture_test.pyeditcommon/CMakeLists.txtaddtest/crash_handler_probe.cppadddocs/crash_capture.mdedittest/CMakeLists.txtaddscripts/export_crash_symbols.pyeditCMakeLists.txtaddcommon/log/crash_handler.cppeditnode/main.cppaddcommon/log/crash_handler.hpp
- algorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppnode/process/prepare/prepare_attr.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_error.hpp74f3b8e6e2b47d25d03482a3035f3a4a43f1c9181792743677000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化防滑基准油门并增加异常阻力停车告警
2026-10-23 16:21:17 +080074f3b8e6e2b47d25d03482a3035f3a4a43f1c918feat: 优化防滑基准油门并增加异常阻力停车告警editdata/config/cfg_error.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditnode/process/prepare/prepare_attr.cppeditnode/sink/ros_sink_record_trigger.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditcommon/util/error_code_data.cppeditnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_error.hppeditmath/identification/vehicle_mass_estimator.cppedittest/accel_to_pedal_converter_test.cpp
githttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenran507http://159.27.114.184:8080/jenkins/job/orin-slave32/507/