Changes

Summary

1. fix: 统一pnc_debug_msg/ObserverDebug.msg (details)

Commit 4de4986bc8bb6959f1d31983148bf959dd76640d by liuhongshuo fix: 统一pnc_debug_msg/ObserverDebug.msg
	pnc_debug_msgs/msg/ObserverDebug.msg

Summary

1. fix: imv控制器BRAKE加安全防护 (details)
2. fix: add revesing car mpc (details)
3. feat: 1.对准超调即完成增加距离防护；2.卸料步进控制优化 (details)
4. feat: 卸料允许更大速度 (details)
5. feat: 日志记录降采样 (details)

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

Summary

1. "feat_out: 当右转进入堆场的cost * 2 < 左转进入堆场,则选择右转进入堆场 -》yangpu" (details)
2. "fix_out: 1，修改min_path_cost为path_cost 2，同一个internal_request_可能存在多个request，所以需要复原一下fallback_to_turn_right_to_yard -》yangpu" (details)
3. feat_out: 修改决定左转右转系数为配置项 (details)
4. feat_out: 增加终点在下引桥的情况，此时只有一个动态下引桥的途经点，没有终点waypoint (details)
5. fix_out: 删除debug时的语句 (details)
6. fix_out: routing_cost_request waypoint type 修改 (details)
7. fix_out: 考虑uturn的右转 (details)
8. feat_out: 按照pnc的要求，倒车情况下，way_points结果从当前点开始 (details)
9. fix_out: response中错误码只有can not find rout (details)
10. fix_out: 1，先取消errorcode透传，2，可能获取不到动态引桥数据。 (details)
11. feat_out: mqtt重连之后去获取封控区域信息 (details)

Commit c295312bf0db1614d2e463cce33efa4a689b290a by caoxue "feat_out: 当右转进入堆场的cost * 2 < 左转进入堆场,则选择右转进入堆场 -》yangpu"
	routing/parser/param_parser.cc
	routing/common/routing_elements.h
	routing/routing.cc
	routing/parser/param_parser.h
	routing/strategy/a_star_strategy.cc
Commit fbb09542967bf2ce90bba07103e9e741681dcd32 by caoxue "fix_out: 1，修改min_path_cost为path_cost 2，同一个internal_request_可能存在多个request，所以需要复原一下fallback_to_turn_right_to_yard -》yangpu"
	routing/routing.cc
Commit 15260ba63ced8ffe808ae8101cf23115a90664db by caoxue feat_out: 修改决定左转右转系数为配置项
	routing/routing.cc
	routing/parser/param_parser.cc
	routing/parser/param_parser.h
Commit fa237653e2b65da5e0b16939f565b76093dc149e by caoxue feat_out: 增加终点在下引桥的情况，此时只有一个动态下引桥的途经点，没有终点waypoint
	routing/routing.cc
Commit e5d87fb101fbea00f3373e5ebfc6a6a483cf8d2d by caoxue fix_out: 删除debug时的语句
	routing/routing.cc
Commit 37707285c100687bfb13375b1a5c749fda6867ec by caoxue fix_out: routing_cost_request waypoint type 修改
	server/adapter/mqtt_adapter.cc
Commit 173d0634e006b98d21ba85893992c21ca33d3a26 by caoxue fix_out: 考虑uturn的右转
	routing/strategy/a_star_strategy.cc
Commit cf69c9ad78111291d6f793ecf106c27e5769b4ff by caoxue feat_out: 按照pnc的要求，倒车情况下，way_points结果从当前点开始
	server/adapter/base_adapter.cc
Commit 598ed2b7158da6a0de5ad24afde75400e7848747 by caoxue fix_out: response中错误码只有can not find rout
	server/manager/adapter_manager.cc
Commit b454a149ad20147741608a989206a979d90716d8 by caoxue fix_out: 1，先取消errorcode透传，2，可能获取不到动态引桥数据。
	interface/map_common/elements/map.h
	server/manager/adapter_manager.cc
Commit 3306bdf3e4300407ed82d47a2cbbb82f86f219a3 by caoxue feat_out: mqtt重连之后去获取封控区域信息
	server/adapter/mqtt_adapter.h
	server/manager/adapter_manager.cc
	server/adapter/base_adapter.h
	server/adapter/base_adapter.cc
	server/adapter/mqtt_adapter.cc