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Changes

Summary

  1. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 (details)
  2. tos_msgs: AccessLine 字段 yard_id 重命名为 yard (details)
Commit b4b632a0687eea102b2a28235f255bd0beb3d911 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 modifiedtos_msgs/msg/PncConfiguration.msg
The file was addedtos_msgs/msg/AccessLine.msg
Commit 32334d000675a8e9faa66ac5b3334a4eb573a3fb by wuyanjun110
tos_msgs: AccessLine 字段 yard_id 重命名为 yard
The file was modifiedtos_msgs/msg/AccessLine.msg

Summary

  1. feat: 增加堆高机侧向吊具高度防护 (details)
  2. feat: 显示障碍物朝向与速度方向 (details)
  3. feat: 补充 SL 边界语义访问器 (details)
  4. fix: recover lattice planner from stop fallback loop (details)
  5. fix: 延迟普通出堆场区域切换 (details)
  6. fix: 稳定任务切换期间区域状态 (details)
  7. fix: 修正录包触发模块标识 (details)
  8. fix: plan from history in low speed (details)
  9. fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换 (details)
  10. feat: 支持真石 IMV 按途经点多段停车 (details)
  11. feat: 支持右转路口前停车 (details)
  12. fix: use history path for IMV direct link (details)
  13. fix: use history path for IMV direct link (details)
  14. fix: 修复缓刹遇障碍后无法进入停止态 (details)
  15. feat: 右转停车后自动起步 (details)
Commit 2cb8008ddd943e956a7667b785fe21445e451fbc by wuyanjun110
feat: 增加堆高机侧向吊具高度防护

按堆高机与车身的横纵向位置及垂直朝向识别侧向作业场景。

场景内采用可配置的 5.5 米吊具高度阈值，并追加角度、横向距离和纵向容错配置及回放序列化。
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifiedconfig/config_car/plan.yaml
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedconfig/config_truck/plan.yaml
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedconfig/config_imv/plan.yaml
Commit 24e2a381bfc70845ed38184b533569d90d508a05 by wuyanjun110
feat: 显示障碍物朝向与速度方向

修正速度方向访问器，并为外部聚类障碍物初始化速度方向。

HMI 使用较浅、较短的箭头区分 heading 和速度方向，同时过滤场桥虚拟障碍物及聚类障碍物。
The file was modifieddata/obstacle/perception_obstacle.cpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/obstacle/perception_obstacle.hpp
Commit f41124c53ec2aa4a916cb59387feefcc7eec9a1d by wuyanjun110
feat: 补充 SL 边界语义访问器

新增左右边界、中心位置及横纵向跨度访问接口，统一屏蔽 start/end 顺序差异。

补充数学函数直接依赖，并整理头文件格式。
The file was modifieddata/common/sl_boundary.hpp
Commit 9e5d64af10fc422c8ec84088e9460b81e7fce5e0 by chenran
fix: recover lattice planner from stop fallback loop
The file was modifieddata/plan/start_point_data.cpp
The file was modifiedtasks/plan/lattice_task.cpp
Commit ac11787464012c0e83e1569b4cb4cd4e08e95cec by wuyanjun110
fix: 延迟普通出堆场区域切换

普通出堆场场景按挂尾所在路段确定反馈区域，挂尾仍在堆场或堆垛区时保持对应安全档位，完全离开后再切换为出堆场路口。

复用按需计算的挂尾路段查询，避免非相关场景执行额外地图查询，并保持 open space 原有逻辑不变。
The file was modifiedplan/prepare/prepare_status.cpp
Commit 15aa2c53ee934212b0e118c10d835b84583b6f4f by wuyanjun110
fix: 稳定任务切换期间区域状态

车辆静止且 PNC local map 尚未稳定时沿用上一帧区域状态，地图恢复或车辆起步后退出保持。

通过新 routing 接收标志和 task id 变化识别任务首帧，避免场景状态尚未更新时短暂回退到普通道路或路口区域；保留 PARK_LOCK 专用判定优先级。
The file was modifiedplan/prepare/prepare_status.cpp
Commit 77e6f73460365691c176d980880690eeef088796 by wuyanjun110
fix: 修正录包触发模块标识

将快照录包触发消息的模块名由 decision 统一为 pnc，与当前节点其他对外消息保持一致。
The file was modifiedsink/ros_sink_record_trigger.cpp
Commit 3d509a03edfdeab52129e441824abdc769926fb8 by chenran
fix: plan from history in low speed
The file was modifieddata/plan/start_point_data.cpp
Commit 81cc3105ee95e9695472b9b9eaccfebca6a8fba0 by wuyanjun110
fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换
The file was modifiedplan/prepare/prepare_status.cpp
Commit 33881645b1d0f7249c5282aa400693a33d1766d6 by wuyanjun110
feat: 支持真石 IMV 按途经点多段停车

真石 IMV 进场且携带搜索途经点时，切换到 IMV 多段停车规划器并构建 pass posture。

收紧途经点支持范围，避免真石 CAR/TT 意外启用随机途经点采样，同时保持其他港区原有逻辑不变。
The file was modifieddata/ssep/forward_ec.cpp
Commit 7f05e7bba4a5deb2d5d0eddf91221c18cc2e7760 by wuyanjun110
feat: 支持右转路口前停车

新增默认关闭的右转路口停车功能开关。

根据路口转向类型识别标准右转并生成规则停车约束，同时增加独立停车原因便于区分。
The file was modifieddata/constrain/pnc_junction.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/pnc_junction.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/constrain/disable_stop_range.hpp
Commit 910b9c72e0c270845ce3ef092e4ce64eb616768a by chenran
fix: use history path for IMV direct link
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit e8c56d84d6c5f40efb5d5ab3a8d3ffd273ff41d2 by chenran
fix: use history path for IMV direct link
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit c4d88d1700cdc8e4586d2b4556e6a5f089d906fd by wuyanjun110
fix: 修复缓刹遇障碍后无法进入停止态

NStop 执行期间进入 MOVE_BRAKE 后保持障碍制动，避免 MOVE_NSTOP 与 MOVE_BRAKE 循环切换。

车辆静止退出 MOVE_BRAKE 时恢复 NN_STOP 停车原因，使 MotionStopFsm 直接进入 STOP_CTRL。
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_fsm.cpp
Commit f8293dba8599ba00452082c32441324eccbb320b by wuyanjun110
feat: 右转停车后自动起步

右转停车约束使用路口停车类型，接入现有安全自动起步流程。

启用右转停车功能且确认标准右转时，停车 1.2 秒后自动尝试起步；其他路口停车保持原有 3 秒等待和障碍物检查逻辑。
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifiedtasks/deciders/other_decider/auto_startup_decider.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp