[Jenkins]Jenkins

Changes

Summary

  1. Update vehicleInfo.groovy (details)
Commit 5c3d5f664126347cb8746f43eacb83dd1d331b93 by weilikang
Update vehicleInfo.groovy
The file was modifiedsrc/org/devops/vehicleInfo.groovy

Summary

  1. Add new file (details)
Commit d79955438bf77e8916846af8bbef8e533e315589 by weilikang
Add new file
The file was addedparams/zhangjiagang-yonggang-submodule.jenkinsfile

Summary

  1. feat: 手动rebase交通管制v2 msg变更 (details)
  2. feat_out:增加吉利锁具控制 (details)
  3. feat: 手动rebase交通管制v2 msg变更 (details)
  4. feat_out:新增吉利锁具控制 (details)
  5. feat: 手动rebase交通管制v2 msg变更 (details)
  6. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  7. 添加载物状态及其枚举值&&车型错误标志 (details)
  8. 添加载物状态及其枚举值&&车型错误标志 (details)
  9. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  10. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  11. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  12. feat: 手动rebase交通管制v2 msg变更 (details)
  13. feat: 添加货物分段长度字段和逃逸场景类型 (details)
  14. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  15. 添加车型匹配bool字段 (details)
  16. 添加车型匹配bool字段 (details)
  17. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  18. feat_out:外设命令扩充(需重编外设及rmi) (details)
  19. feat_out:增加全量上传topic (details)
  20. feat_out:增加消息定义 (details)
  21. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  22. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
  23. feat_out:增加全量上传topic (details)
  24. feat_out:修改东方特钢上装控制枚举 (details)
  25. feat_out:增加全量上传topic (details)
  26. feat_out:修改东方特钢上装控制枚举 (details)
  27. feat_out:合并外设消息 (details)
  28. feat_out:增加反馈pd类型 (details)
  29. feat_out:增加全量上传topic (details)
  30. feat_out:反馈字段完善 (details)
  31. feat_out:增加反馈pd类型 (details)
  32. feat_out:反馈字段完善 (details)
  33. feat_out:字段修改 (details)
  34. feat_out:增加6档反馈 (details)
  35. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  36. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
  37. feat_out:删除.marscode (details)
  38. Merge peripheral shared_msgs updates into rc_dev_weiqiao (details)
  39. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  40. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
  41. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  42. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
  43. feat_out:对调命令target值 (details)
  44. feat: 增加设备/目标类型 17 油缸升降（嘉兴） (details)
  45. feat:添加场桥和岸桥运动状态 (details)
  46. feat_out:删除tmp (details)
  47. feat_out:增加定日镜消息 (details)
  48. feat:添加场桥和岸桥运动状态 (details)
  49. feat_out:增加错误码数组 (details)
  50. feat_out:增加雷达巡检消息 (details)
  51. feat_out:增加雷达巡检消息 (details)
Commit aed54f80025d95dc2fa58fadb5f26bd1c46d4b0d by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit d2d1816d65aec8f872cc6f61052bdcb8c64e73e5 by zhaojianfeng2
feat_out:增加吉利锁具控制
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
The file was addedtmp/aha/dconf/user
The file was added.marscode/deviceInfo.json
Commit 28d550621b9b5b7a5c1e61e58845772ff4c1525c by 5081703.cr
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 7d1f2976915d6191037ca802663b6fcf5c952867 by zhaojianfeng2
feat_out:新增吉利锁具控制
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit eadbbf60c2f42f9cc816ea239eb5310f19bef058 by wuyanjun110
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 876f0ac7f688fcb989d1343dc7bfac606a98615e by wuyanjun110
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
Commit 4a63c7fafd07ee96114547c4152c16c5b153898f by liuwenjing
添加载物状态及其枚举值&&车型错误标志
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit dbde87dac06d38fa0c632d2b48b972820d01c3f1 by liuwenjing
添加载物状态及其枚举值&&车型错误标志
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit 69d9a06f8c7221ce10c5d955a81fc9684aa206c3 by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
Commit 7d57dd6412d4746df29e6b22eeda874d2244b0cd by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
The file was addedguardian_msgs/msg/ParallelObstacle.msg
Commit 1f1b50411fbad43ef0d16e173acf889b3a413854 by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
Commit db51c891fddcf73babce98115f7526d2860bd6c4 by 5081703.cr
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 063d531a478250750e71384bff10ecd00da9d00f by wuyanjun110
feat: 添加货物分段长度字段和逃逸场景类型
The file was modifiedads_msgs/msg/Target.msg
Commit cbe2305d5c6c686eaa127b2cc0d59df5b5bca47d by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was modifiedguardian_msgs/CMakeLists.txt
Commit 87e2add8eda2f4683844d03b1c06fbef5e37a29f by liuwenjing
添加车型匹配bool字段
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit 3606f1d8f20b9800a8a39b7e36bb6f56a02aa998 by liuwenjing
添加车型匹配bool字段
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit 5f922b46649cf7a0c2cee7b9a0d984783d85d8bd by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was modifiedguardian_msgs/CMakeLists.txt
Commit 8e532984adc69ef005594c83d7c6f854a2b3f81f by zhaojianfeng2
feat_out:外设命令扩充(需重编外设及rmi)
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit ef9d21eadee240c142d548947416629414d4114c by zhaojianfeng2
feat_out:增加全量上传topic
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
The file was addedcloud_msgs/msg/RecordTransferResult.msg
The file was modifiedcloud_msgs/CMakeLists.txt
Commit 131c24914532ae4544f15356277ded02eae7a278 by zhaojianfeng2
feat_out:增加消息定义
The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
Commit 2b2e142c9000d957df8a263160e270ba2067121d by wuyanjun110
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
The file was addedtos_msgs/msg/AccessLine.msg
The file was modifiedtos_msgs/msg/PncConfiguration.msg
The file was modifiedtos_msgs/CMakeLists.txt
Commit 84aa508cf8dfb205824c68f43f042c02060f8b1f by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg
Commit e790c0b6dcc52be0d9a822c43d5879a8dca33998 by zhaojianfeng2
feat_out:增加全量上传topic
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
The file was modifiedcloud_msgs/CMakeLists.txt
The file was addedcloud_msgs/msg/RecordTransferResult.msg
Commit a6df58e6f3c8f8eec3742ca3a2c67961dc5f1970 by zhaojianfeng2
feat_out:修改东方特钢上装控制枚举
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 081732b3a2bf52031b464edecac6bffbe87d2cf8 by zhaojianfeng2
feat_out:增加全量上传topic
The file was modifiedcloud_msgs/CMakeLists.txt
The file was addedcloud_msgs/msg/RecordTransferResult.msg
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
Commit 06f294f224285acf804864bb9051f5783414c162 by zhaojianfeng2
feat_out:修改东方特钢上装控制枚举
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit b4ee0c968a0483aafa6dbba7c2b4d24a28eca71f by zhaojianfeng2
feat_out:合并外设消息
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit ef8f093ceff58fa2b79d1a3667d0a4f34f3e28a3 by zhaojianfeng2
feat_out:增加反馈pd类型
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
Commit 303eb68645d43fc7e1695415feada4be3a0feb4b by zhaojianfeng2
feat_out:增加全量上传topic
The file was addedcloud_msgs/msg/RecordTransferCmd.msg
The file was addedcloud_msgs/msg/RecordTransferResult.msg
The file was modifiedcloud_msgs/CMakeLists.txt
Commit 5b63832064422758474bde74403392be05d8884d by zhaojianfeng2
feat_out:反馈字段完善
The file was modifiedcloud_msgs/msg/LedMsg.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
Commit bd4531ee12d21ff202fbf4e7bacaa08e5eb98b0b by zhaojianfeng2
feat_out:增加反馈pd类型
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
Commit cf8ef577bbb6bbf96346211bd8eb73585760ad5a by zhaojianfeng2
feat_out:反馈字段完善
The file was modifiedcloud_msgs/msg/LedMsg.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
Commit 5052114869f5d8c0300c8a9a408ae1dc1ec79def by zhaojianfeng2
feat_out:字段修改
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit adeecd3038f4c7414651bda89bcee43953e37fe9 by zhaojianfeng2
feat_out:增加6档反馈
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 81d4f7a849ff697cc58957c3d6260c82de350c2e by wuyanjun110
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
The file was modifiedtos_msgs/CMakeLists.txt
The file was addedtos_msgs/msg/AccessLine.msg
The file was modifiedtos_msgs/msg/PncConfiguration.msg
Commit ce4f0766aace66814f2a5f8025e07a3715a56c54 by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg
Commit 6249c01a43853ec0de531ca7b7285db7f8ef4264 by zhaojianfeng2
feat_out:删除.marscode
The file was removed.marscode/deviceInfo.json
Commit 79e9ee25b4ab79077fc9216ed01c5b80ecee14ee by zhaojianfeng2
Merge peripheral shared_msgs updates into rc_dev_weiqiao
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
The file was modifiedcloud_msgs/msg/LedMsg.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 9883b8e30f68386d2c45c5d424f7d5c0d859fc23 by wuyanjun110
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
The file was modifiedtos_msgs/msg/PncConfiguration.msg
The file was addedtos_msgs/msg/AccessLine.msg
The file was modifiedtos_msgs/CMakeLists.txt
Commit 5ed395184976ac2e53d71877213b95b907e55a89 by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg
Commit a6cc2eba4e6500eb50f7c134c69130ed5961609d by wuyanjun110
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义
The file was modifiedtos_msgs/msg/PncConfiguration.msg
The file was addedtos_msgs/msg/AccessLine.msg
The file was modifiedtos_msgs/CMakeLists.txt
Commit 2d6540ee99dacd1ead24c835cb63c9282bc40ec7 by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg
Commit f820c4ad43107c56f407831e44f6bc87cbbfff7f by zhaojianfeng2
feat_out:对调命令target值
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 961a6d64a8736eaf6ecd094f6274d2bec9fceadb by zhaojianfeng2
feat: 增加设备/目标类型 17 油缸升降（嘉兴）

东方特钢举升/下降与状态反馈由类型 7（翻斗）改为 17。
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
Commit 0a86996bd8e8ce67c530651964a740867ad58248 by wuyanjun110
feat:添加场桥和岸桥运动状态
The file was modifiedcloud_msgs/msg/CraneInfo.msg
Commit 45405ae4f7f78b275cc6e9dd8f36cc2a220f9e37 by zhaojianfeng2
feat_out:删除tmp
The file was removedtmp/aha/dconf/user
Commit f2db9ca6e50dcfa9b6176395bc96b1f60d894f94 by zhaojianfeng2
feat_out:增加定日镜消息
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit 27402f14260ed710f3f7ea37c0667ed4d344f3e1 by wuyanjun110
feat:添加场桥和岸桥运动状态
The file was modifiedcloud_msgs/msg/CraneInfo.msg
Commit ad3e734633c8736db7b6aa8494edd34f5a1b80d2 by zhaojianfeng2
feat_out:增加错误码数组
The file was modifiedperipheral_msgs/msg/PeripheralOperateStates.msg
The file was modifiedperipheral_msgs/package.xml
The file was modifiedperipheral_msgs/CMakeLists.txt
Commit 253235ff229b66e4c17c269624b8ccc7ce218785 by zhaojianfeng2
feat_out:增加雷达巡检消息
The file was modifieddiagnose_msgs/CMakeLists.txt
The file was addeddiagnose_msgs/msg/InspectRequest.msg
Commit 45227b06b5264038899c3867327bc68c88a6c62e by zhaojianfeng2
feat_out:增加雷达巡检消息
The file was addeddiagnose_msgs/msg/InspectRequest.msg
The file was modifieddiagnose_msgs/CMakeLists.txt

Summary

  1. docs: 增加安全防护距离交互说明文档 (details)
  2. feat: 支持 IMV 车型的仓体倒车防护 (details)
  3. feat: 支持车周最近距离常驻上报与分向采样 (details)
  4. docs: 完善项目说明文档 (details)
  5. feat: 开启全方向仓体防护并统一预测框管理 (details)
  6. fix: 按上层防护配置选择默认碰撞框图层 (details)
Commit c3d4ee81cebeef020a773b6f3237eb2aa60f2119 by wuyanjun110
docs: 增加安全防护距离交互说明文档

依据当前 Guardian 代码及 config_test 配置，整理纵向 TTC、硬停车、预测碰撞和侧向等防护阈值。提供离线交互计算、场景速查、参数溯源及校验结果，并说明简化模型与实际触发条件。
The file was addedreports/guardian_safety_distances.html
Commit 103346c8462d025403a67350e4cbd91c7b3b1577 by wuyanjun110
feat: 支持 IMV 车型的仓体倒车防护

仓体防护原先仅对 truck 生效，双向 IMV 倒车时即使打开开关也不会
进入判定。将车型门控放开到 truck 和 IMV，跨运车仍不参与。

车斗高度下限允许为负值，便于用 -10～3.2 m 覆盖完整车斗；仍保留
上限不得小于下限的校验。

补充负高度下限、truck/IMV/跨运车车型以及 R 档方向判断的回归。
The file was modifieddata/monitor/warehouse_guardian_data.cpp
The file was modifiedtests/warehouse_guard_test.hpp
Commit 77b077d0923345832eec58bd340ca0b793980f25 by wuyanjun110
feat: 支持车周最近距离常驻上报与分向采样

新增 use_func_parallel_report_always 开关，打开后非平行驾驶时也按周期
计算、绘制并发布车周最近距离，默认关闭保持原有行为。

新增 parallel_report_period 配置上报更新周期，默认 1 s，替换原先写死的
1 Hz 节流。

采样间距拆分为 parallel_report_sample_step_longitudinal 和
parallel_report_sample_step_lateral，分别按车长、车宽方向采样；原
parallel_report_sample_step 保留为两者的缺省回退值。轮廓边按与车头
航向的夹角判断纵向/横向。

同时修正绘制条件的中文注释。
The file was modifiedsink/ros_sink_parallel_report.hpp
The file was modifieddata/config/cfg_func.cpp
The file was modifiedmonitor/parallel_report_monitor.hpp
The file was modifieddata/config/cfg_func.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedmonitor/parallel_report_monitor.cpp
The file was modifiedconfig/guardian_imv.yaml
The file was modifieddata/common/parallel_report.cpp
The file was modifieddraw/draw_parallel_report.cpp
The file was modifiedconfig/guardian_truck.yaml
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/common/parallel_report.hpp
The file was modifieddata/monitor/parallel_report_data.hpp
Commit b9af3b573bf8017be75e931a3c702510392fb776 by wuyanjun110
docs: 完善项目说明文档

补充实际构建入口、环境版本限制与全仓格式化的影响说明；补充离线
回归测试入口及其对 CSV/ROS 环境的依赖；按当前模块实现更新处理流水线、
配置单例、Monitor 子模块和 TTC 子系统的说明。
The file was modifiedCLAUDE.md
Commit 961f81ffcbebf6afcd211255325293ba6eda9b7c by wuyanjun110
feat: 开启全方向仓体防护并统一预测框管理

解除斗轮防护的挡位和前后方向启用限制，默认开启两个独立开关。
由 PredictPath 统一生成和保存斗轮框，检测及绘图读取同一份几何数据。
Truck 与 IMV 共用车型预测入口，保留独立车斗时间窗、宽度和后轮静态框。
补充挡位方向、IMV 转角、PNC 时间窗、框生命周期及参数加载验证。

验证：工程 task 构建、完整 TTC 回归和隔离 ROS 集成测试通过。
The file was modifieddata/common/predict_path.hpp
The file was modifieddata/monitor/warehouse_guardian_data.hpp
The file was modifiedtests/ttc_min_speed_test.cpp
The file was modifiedtests/README.md
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddraw/draw_ttc.cpp
The file was modifiedtests/warehouse_draw_test.hpp
The file was modifieddata/config/cfg_func.cpp
The file was modifieddata/monitor/warehouse_guardian_data.cpp
The file was modifiedconfig/guardian_imv.yaml
The file was modifiedconfig/guardian_truck.yaml
The file was modifiedtests/warehouse_guard_test.hpp
The file was modifieddata/config/cfg_func.hpp
The file was modifieddata/common/predict_path.cpp
Commit 57a7d7c0e3d08b489c2759030951c964882456be by wuyanjun110
fix: 按上层防护配置选择默认碰撞框图层

初始化时根据 use_func_upper_pts 选择上层或下层车头、挂车和跨运车框，
避免未开启上层防护时默认看不到碰撞框；保留后续手动图层选择。

验证：工程 task 构建和 TTC 图层回归通过。
The file was modifiedtests/ttc_min_speed_test.cpp
The file was modifieddraw/draw_ttc.hpp
The file was modifieddraw/draw.cpp

Summary

  1. fix: 车道线视频改为按需编码，解决车端 CPU 占满 (details)
  2. fix: 车端 trigger 与录制视频按对端在线状态发送 (details)
  3. fix: ROS trigger 每条消息只处理一次 (details)
  4. fix:修复流水线编译问题 (details)
Commit 9ae6b3e7dd996a87c27fcb49a910b7e59a4da174 by haoxiangtao
fix: 车道线视频改为按需编码，解决车端 CPU 占满

车道线图像接收时在主线程逐帧 JPEG 全图解码，并每 5s 将缓存帧再解码一遍、
软编码为 H.264 分段。只要车道线在发图，无论是否触发录制都持续编码，
编出的视频绝大多数 30min 后直接丢弃；主循环被阻塞后 Rate 不再休眠，
现场 top 显示 snapshot_upload_handler 占用 93.8% CPU。

- 车道线图像只缓存原始 JPEG，不再解码和编码
- Trigger 录制或回溯请求时，从 JPEG 缓存取窗口内帧，按 5s 时间格切段，
  交给后台低优先级(nice 10)线程编码，每帧只解码一次；在途任务最多 2 个，
  避免一次性拷贝大量帧。时间格对齐使重叠窗口的同一段只编码、上传一次
- 回溯视频改为编完一段发一段；同一回溯区间只处理一次，修复回溯完成后
  请求未清除时反复重新上传(现会反复编码)的问题
- 快照录制收集改为 lower_bound 区间遍历，替代按值拷贝整个快照缓存，
  消除 Trigger 时主循环 150-370ms 的卡顿
- 移除常驻的 30min 视频分段缓存及 lane_video_cache_seconds 参数；
  可回溯视频时长改由 lane_image_cache_size 决定

验证：新增 5 项编码器单元测试通过；本地 16.5 FPS 车道线图像流 A/B 对比，
常态 CPU 91.4% -> 1.0%；Trigger 与回溯均能按需编码并上传，主循环无卡顿告警。
The file was addedcommon/util/lane_video_encoder.cpp
The file was modifieddata/snapshot_upload_frame.cpp
The file was modifiedmqtt_sink/mqtt_sink_lane_video.hpp
The file was modifieddata/snapshot_upload_frame.hpp
The file was modifiedros_source/ros_source_lane_image.hpp
The file was addedtests/lane_video_encoder_test.cpp
The file was modifiedCMakeLists.txt
The file was addedcommon/util/lane_video_encoder.hpp
Commit 2107026ea7cc9299789ee9ad26ec2e2de32cdb91 by haoxiangtao
fix: 车端 trigger 与录制视频按对端在线状态发送

网络探测判定对端离线时，录制快照和安全截图已暂停重传，但车端 trigger
(vehicle_trigger) 仍每 10s 重发、录制车道线视频仍直接发送并删除。
store 离线期间 trigger 会无限重发，视频则在无人接收时被丢弃。

- trigger 首发与重发均以 peer_online_ 为前提；离线时保留在 triggers_ 中，
  收到 ACK 才删除，恢复在线后立即补发
- 重发间隔改为按上次发送时间计算。原条件按触发时刻计算，离线较久恢复后
  会连续多个周期满足条件、集中补发
- 对端在线状态切换时打印一次日志，便于现场排查
- 录制车道线视频离线时保留，恢复在线后再发送，与录制快照一致

验证：本地 mock store 回复网络探测。离线 34s 内 trigger 与视频均未发送；
恢复在线后立即补发、此后严格每 10s 一次，保留的视频随即上传；
停止回复后 15s 内判定离线并停止发送。
The file was modifiedmqtt_sink/mqtt_sink_trigger_vehicle.hpp
The file was modifiedmqtt_sink/mqtt_sink_lane_video.hpp
Commit 2eadc36d0fc6534a62561af31a6b5db2beb359f1 by haoxiangtao
fix: ROS trigger 每条消息只处理一次

RosSourceTrigger::Obtain 只判断最近一条消息是否在 1s 超时内，未检查
update_ 标志。10Hz 主循环下，同一条 /record/trigger 在 1s 内被重复处理
约 10 次，第一次创建收集定时器，其余每次都打印"Trigger 相关快照收集
定时器已存在"告警，现场每次触发都会连续刷出 9~11 条。

处理后清除 update_，每条消息只处理一次。远程触发同时经 ROS 与 MQTT
到达时，仍会保留 1 条合理的去重提示。
The file was modifiedros_source/ros_source_trigger.hpp
Commit 9654377bae2787380551cbc347d50390c5548536 by haoxiangtao
fix:修复流水线编译问题
The file was modifiedCMakeLists.txt