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#272272false2721301654FAILURE1789479570680http://159.27.114.184:8080/jenkins/job/telediagnostic/272/CMakeLists.txtssep/CMakeLists.txt11ca02a8b8ff42c8e53f9f3d3f9df0cdc325868d1789470055000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 Abseil 对象库编译依赖通过导入目标向 PNC、回放及 SSEP 对象库传递 Abseil 头文件和编译要求，避免安装更新后头文件与链接库版本不一致。验证：使用分布式编译成功构建 pnc_node 和 pnc_replayer。 2026-09-15 19:00:55 +080011ca02a8b8ff42c8e53f9f3d3f9df0cdc325868dfix: 统一 Abseil 对象库编译依赖editCMakeLists.txteditssep/CMakeLists.txtssep/test/search_guide_loader_test.cctasks/plan/reversing_truck_path_task.cppssep/param_loader/search_guide_loader.ccssep/data_structures/ssep_input.cctasks/plan/ssep_task.cppCMakeLists.txtssep/param_loader/search_guide_loader.hssep/maps/ogm_builder.ccdata/vehicle/vehicle_destination.cppssep/keb_optimizer/keb_problem.ccssep/data_structures/search_via_point.hssep/offboard/servers/scene_vis_html_template.ccdata/ssep/ssep_ec.cppreplayer/scene_data/generated/plan_frame_encoder.hppTesting/ssep_path_corridor_test.cppssep/protos/params.protoreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/cfg_scenarios_proto_codec.cppproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/compact_numeric_policy.yamlssep/protos/scene.protossep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdssep/coarse_search/bidirectional_hybrid_astar_search_engine.hreplayer/scene_data/plan_frame_persistence_policy.yamlssep/keb_optimizer/keb_problem.hhmi/draw/draw_map.cppssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.hreplayer/scene_data/compact_proto_codec.cppssep/test/CMakeLists.txtdata/other/flow_control.cppssep/offboard/ssep_planner_wrapper.ccdata/plan/ssep_data.hppreplayer/scene_data/generated/plan_frame_decoder.cpptasks/deciders/search_decider/forward_search_decider.cppTesting/cfg_scenarios_proto_codec_test.cppreplayer/algorithm_replay/generated/scenario_task_chains.jsondocs/reverse_pickup_search.mdreplayer/scene_data/generated/plan_frame_field_roles.jsonscenarios/bulkload_scenario/bulkload_move_forward_stage.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/common/utils/scene_frame_visualization.ccdata/app/reaction/app_reaction.cppssep/offboard/scene_replay/replay_scene_frame_cli.ccdata/config/cfg_ssep.hppssep/offboard/generate_scene_data/transform_to_body_frame_cli.ccreplayer/scene_data/config_proto_codec.hppdata/plan/path_direction_data.cppssep/maps/ogm_builder.hssep/data_structures/ssep_input.hppssep/test/scene_replay_obstacle_inputs_test.ccdata/ssep/forward_ec.hppreplayer/scene_data/generated/plan_frame_descriptor.pbdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/plan/ssep_data.cppssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.hreplayer/scene_replay/scene_replay_service.cppTesting/path_pair_validation_test.cpptasks/deciders/search_decider/forward_search_decider.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/param_loader/param.hreplayer/scene_data/generated/plan_frame_decoder.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppTesting/routing_transition_test.cppconfig/config_truck/ssep_port_scenarios_jinxi.yamlreplayer/scene_data/generated/compact_typed_field_codec.hppconfig/config_truck/scenario.yamlreplayer/scene_data/compact_custom_field_proto_codec.cppssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.hdata/other/reverse_pickup.cppdata/ssep/ssep_activation.cppdata/plan/path_data.cppTesting/reverse_pickup_stage_selector_test.cppproto/pnc_scene/compact_replay_input.protodata/config/cfg_ssep.cppdata/ssep/forward_ec.cppreplayer/scene_data/config_proto_codec.cppdata/config/cfg_stage.cppssep/ssep_planner.hssep/CMakeLists.txtssep/data_structures/search_guide_match.hssep/data_structures/search_guide.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/ssep_planner.ccplan/pilot/pilot_update.cppproto/plan_data.protossep/coarse_search/motion_primitive_sampler/reeds_shepp_path.cctasks/plan/ssep_task.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppTesting/reverse_pickup_lifecycle_test.cppTesting/search_decider_lifecycle_test.cppdata/app/fsm/task_fsm/task_fsm.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.hTesting/scene_replay_foundation_test.cppdata/other/reverse_pickup.hppdata/app/fsm/task_command_type.hppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/compact_custom_field_proto_codec.hppdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdreplayer/scene_data/full_proto_custom_encoder.cppssep/scenarios/ordered_search_via_validation.hdata/app/fsm/task_command_type.cpptasks/deciders/search_decider/search_decider_lifecycle.hppproto/config.protoreplayer/scene_data/generated/compact_typed_field_codec.cppssep/scenarios/scenario_planner_factory.hdata/config/cfg_stage.hppconfig/config_truck/ssep_search_guides.yamlssep/test/ssep_planner_test.cctools/pnc_proto_mapper/generator.pyreplayer/scene_data/plan_frame_field_roles.csvssep/offboard/main_test/main_ssep_input.ccreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppfa8231b1b6c9d51a1d5a9fce5b2a12231bf19aef1789470055000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持倒车接货顺序途经搜索与姿态约束复用 ForwardEC 和 Bulk Stage，在任务终点停车后启动分段搜索，维护顺序途经点进度并支持换向及手动重搜索；保留 PARK_LOCK 的有效路径和引导线。加入 YAML 搜索引导线、途经点可视化、车头及挂车姿态约束和 KEB 最终验收，优化首段预算与起始姿态适应能力。修复车挂路径配对失效、普通搜索结果发布及精确障碍物回放，补齐 Full/Compact 合同与配套测试。验证：分布式构建 pnc_node、pnc_replayer 通过；任务与搜索生命周期测试通过；SSEP 搜索测试及现场场景回归通过。 2026-09-15 19:00:55 +0800fa8231b1b6c9d51a1d5a9fce5b2a12231bf19aeffeat: 支持倒车接货顺序途经搜索与姿态约束editconfig/config_truck/scenario.yamladdssep/test/search_guide_loader_test.cceditssep/offboard/scene_replay/replay_scene_frame_cli.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/plan/path_direction_data.cppeditreplayer/scene_data/config_proto_codec.cppeditssep/offboard/generate_scene_data/transform_to_body_frame_cli.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/ssep_path_corridor_test.cppeditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/ssep_task.hppeditssep/maps/ogm_builder.cceditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/scenarios/scenario_planner_factory.heditreplayer/scene_data/config_proto_codec.hppeditreplayer/scene_data/generated/plan_frame_decoder.hppeditssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.heditssep/data_structures/ssep_input.cceditdata/ssep/ssep_activation.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppeditTesting/cfg_scenarios_proto_codec_test.cppeditssep/CMakeLists.txteditTesting/routing_transition_test.cppeditssep/maps/ogm_builder.heditssep/protos/params.protoeditTesting/search_decider_lifecycle_test.cppeditreplayer/scene_data/plan_frame_persistence_policy.yamleditdata/config/cfg_ssep.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/cfg_scenarios_proto_codec.cppaddconfig/config_truck/ssep_search_guides.yamleditdata/config/cfg_stage.hppedittools/pnc_proto_mapper/generator.pyeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/coarse_search/motion_primitive_sampler/reeds_shepp_path.cceditdata/ssep/forward_ec.hppeditproto/pnc_scene/compact_plan_frame_fields.protoeditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditreplayer/scene_data/compact_custom_field_proto_codec.cppeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccadddata/other/reverse_pickup.hppadddocs/reverse_pickup_search.mdeditreplayer/scene_data/compact_proto_codec.cppeditreplayer/algorithm_replay/generated/scenario_task_chains.jsonaddssep/data_structures/search_guide_match.heditssep/common/utils/scene_frame_visualization.cceditreplayer/scene_data/compact_custom_field_proto_codec.hppeditdata/app/reaction/app_reaction.cppedithmi/draw/draw_map.cppaddssep/data_structures/search_guide.haddssep/param_loader/search_guide_loader.ccedittasks/plan/ssep_task.cppeditdata/ssep/ssep_ec.cppaddTesting/reverse_pickup_stage_selector_test.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditssep/offboard/ssep_planner_wrapper.cceditreplayer/scene_data/compact_numeric_policy.yamladdssep/data_structures/search_via_point.heditreplayer/scene_data/generated/plan_frame_encoder.hppaddTesting/reverse_pickup_lifecycle_test.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/forward_search_decider.hppeditssep/offboard/main_test/main_ssep_input.cceditdata/other/flow_control.cppeditproto/pnc_scene/compact_replay_input.protoeditssep/param_loader/param.heditdata/app/fsm/task_command_type.cppeditdata/plan/path_data.cppeditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.cceditssep/test/ssep_planner_test.ccaddssep/scenarios/ordered_search_via_validation.heditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditplan/pilot/pilot_update.cppadddata/other/reverse_pickup.cppeditdata/vehicle/vehicle_destination.cppaddTesting/path_pair_validation_test.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditssep/protos/scene.protoeditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditssep/keb_optimizer/keb_problem.heditdata/plan/ssep_data.cppeditssep/ssep_planner.heditCMakeLists.txteditdata/app/fsm/task_command_type.hppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdaddssep/test/scene_replay_obstacle_inputs_test.cceditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppedittasks/plan/reversing_truck_path_task.cppeditdata/config/cfg_stage.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/plan_frame_field_roles.csveditssep/test/CMakeLists.txtedittasks/deciders/search_decider/search_decider_lifecycle.hppeditdata/app/fsm/task_fsm/task_fsm.cppeditssep/data_structures/ssep_input.hppeditssep/offboard/servers/scene_vis_html_template.cceditssep/keb_optimizer/keb_problem.cceditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.heditproto/plan_data.protoeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_replay/scene_replay_service.cppeditssep/ssep_planner.cceditreplayer/scene_data/generated/compact_typed_field_codec.hppeditproto/config.protoeditreplayer/scene_data/generated/plan_frame_decoder.cppaddssep/param_loader/search_guide_loader.heditdata/config/cfg_ssep.hppeditdata/plan/ssep_data.hppssep/test/local_regression/parking_collision_quality.pyssep/test/local_regression/tt_ordered_pose_results.jsonssep/test/local_regression/README.mdssep/test/local_regression/tt_parking_quality.pyTaskfile.ymlssep/offboard/scene_replay/CMakeLists.txtssep/test/local_regression/tt_ordered_via_manifest.tsvssep/test/local_regression/tt_ordered_via_cases.jsonssep/test/local_regression/tt_ordered_via_quality.jsonssep/test/local_regression/test_parking_collision_quality.pyssep/test/local_regression/tt_ordered_pose_cases.jsonssep/test/local_regression/test_tt_parking_regression.pyssep/test/local_regression/test_pose_regression.pyssep/test/local_regression/generate_pose_regression.pyssep/test/local_regression/tt_ordered_pose_manifest.tsv8efd7a6dfd64463a69c7007abf34f08b8432ef7b1789470055000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 SSEP 现场场景和起始姿态扰动回归归档近期顺序途经搜索案例清单、输入校验信息及质量结果，增加位置、车头角和挂车角扰动生成器，校验途经顺序与精确障碍物碰撞。回放构建支持显式 Release 配置并补充 task 入口。验证：6 个现场案例与 11 个姿态扰动案例通过，Python 回归测试 58 项通过。 2026-09-15 19:00:55 +08008efd7a6dfd64463a69c7007abf34f08b8432ef7btest: 增加 SSEP 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区分搜索输入等待与环境构造失败九类搜索在输入不可用时等待，构造失败清理半成品并继续重试，保留等停请求及搜索回退进度；仅实际搜索失败耗尽回退后进入 UNUSE。补齐 Forward 在 IDLE 收到人工重搜时的策略准备，避免沿用旧拉直状态，并限制同一请求只重置一次。更新生命周期文档、生成指纹及输入恢复、计数饱和和终态回归测试。 2026-09-15 21:15:23 +0800ad252560237ce635cae82a55310beda37d002dd7fix: 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修复任务切换后搜索状态卡在 FINISH 九类搜索使用与异步结果一致的有效任务 ID，在任务交接时失效旧构造器及发布快照，防止输入异常后恢复旧状态。异步 future 提交当帧立即发布运行标志，避免下一帧新请求误过线程门禁后被丢弃。补充跨任务结果回收、连续切换、异常输入恢复和提交帧运行状态回归，保留同任务重搜及倒车取货结果复用。 2026-09-15 21:16:01 +0800205596008a5ca6391020ebfe64226b05827da5a5fix: 修复任务切换后搜索状态卡在 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