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+0800bd0af1a7eaa469088ebc6fa88194e792a9f60df6feat_out:字段精度调整editcloud_msgs/msg/TosTask.msgtos_msgs/msg/PeripheralCmd.msg3e9f6f0cd2346406b4879f68c4910996c8dc821c1769061366000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改外设cmd消息 2026-01-22 13:56:06 +08003e9f6f0cd2346406b4879f68c4910996c8dc821cfeat_out:修改外设cmd消息edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg3fe6e282961013cb8190e7ba878ca9bbc6c34a411770085537000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加外设状态反馈字段 2026-02-03 10:25:37 +08003fe6e282961013cb8190e7ba878ca9bbc6c34a41feat_out:增加外设状态反馈字段editperipheral_msgs/msg/VehicleStatus.msgtos_msgs/msg/PeripheralCmd.msg78742f614045dfc91b5e32773a9faa46dfebc4f01770281061000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:外设命令cmd枚举调整 2026-02-05 16:44:21 +080078742f614045dfc91b5e32773a9faa46dfebc4f0feat_out:外设命令cmd枚举调整edittos_msgs/msg/PeripheralCmd.msgcloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msg76803290249f1a7498b77dac42c959f2385e72a81772273255000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息 2026-02-28 18:07:35 +080076803290249f1a7498b77dac42c959f2385e72a8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanning.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msgb1e42a87435fb81745d25a9d32411056734862b81772273322000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息 2026-02-28 18:08:42 +0800b1e42a87435fb81745d25a9d32411056734862b8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanning.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningPoint.msgaddcloud_msgs/msg/CloudPlanningResponse.msgcloud_msgs/msg/CloudPlanningResponse.msg23f556d99666ecfa4db447aff433ea4686f256861772520930000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:add cloud_planning_response 2026-03-03 14:55:30 +080023f556d99666ecfa4db447aff433ea4686f25686feat_out:add cloud_planning_responseeditcloud_msgs/msg/CloudPlanningResponse.msgperipheral_msgs/msg/VehicleStatus.msgb338fbf811a4f2c0c39e71ee62f18c35757f0b1d1773803625000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加续航里程字段 2026-03-18 11:13:45 +0800b338fbf811a4f2c0c39e71ee62f18c35757f0b1dfeat_out:增加续航里程字段editperipheral_msgs/msg/VehicleStatus.msgads_msgs/msg/HfsmState.msg9e61cf69319a9a472e75f01c8ed741aad6dc7a6f1773999979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg):添加是否越过当前边界的标志位 2026-03-20 17:46:19 +08009e61cf69319a9a472e75f01c8ed741aad6dc7a6fchore(msg):添加是否越过当前边界的标志位editads_msgs/msg/HfsmState.msgtos_msgs/msg/PncConfiguration.msg0daa1f7f08156df5a55cf90342da631b318e2d3d1775655112000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg): 添加距离阈值内不避让排队车辆的标志位 2026-04-08 21:31:52 +08000daa1f7f08156df5a55cf90342da631b318e2d3dchore(msg): 添加距离阈值内不避让排队车辆的标志位edittos_msgs/msg/PncConfiguration.msgtos_msgs/msg/PeripheralCmd.msg4c96c8a35f2498ec41691f02e4e5b3f87104d8331776161260000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加沈汽环卫上装控制 2026-04-14 18:07:40 +08004c96c8a35f2498ec41691f02e4e5b3f87104d833feat_out:增加沈汽环卫上装控制edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg2762395f197d1dcc14647d4e7bca0c6a467b69b61776246597000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:补充外设字段 2026-04-15 17:49:57 +08002762395f197d1dcc14647d4e7bca0c6a467b69b6feat_out:补充外设字段editperipheral_msgs/msg/VehicleStatus.msgpnc_debug_msgs/msg/ObserverDebug.msge1ea7d61508080e52f9048605a18ef6c2037b49e1776776486000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:处理合并冲突 2026-04-21 21:01:26 +0800e1ea7d61508080e52f9048605a18ef6c2037b49efeat_out:处理合并冲突editpnc_debug_msgs/msg/ObserverDebug.msggitinclude/config_loader.hppinclude/av_alarm.hsrc/peripheral_controller_daxie.cppinclude/peripheral_controller_daxie.h96eff34f4b0a98f698343e591eaa329048ef6b381763018553000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofeat:新增安全告警音频播放 2025-11-12 23:22:33 -080096eff34f4b0a98f698343e591eaa329048ef6b38feat:新增安全告警音频播放editinclude/av_alarm.heditsrc/peripheral_controller_daxie.cppeditinclude/config_loader.hppeditinclude/peripheral_controller_daxie.hsrc/peripheral_controller_daxie.cpp94490cb6ef02ea668fd6119562dff95c3f6ba7841763709490000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:修正状态 2025-11-20 23:18:10 -080094490cb6ef02ea668fd6119562dff95c3f6ba784fix:修正状态editsrc/peripheral_controller_daxie.cppsrc/peripheral_controller_daxie.cpp96134c9f27f3b698210d96190684d1385d633ec01768020685000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:多个错误码只触发一次 2026-01-09 20:51:25 -080096134c9f27f3b698210d96190684d1385d633ec0fix:多个错误码只触发一次editsrc/peripheral_controller_daxie.cppsrc/peripheral_controller_daxie.cppc157dadbb1179a54f6437a3367babc6a0a7749ef1768038453000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:从人工模式进入自动模式停止播放音频 / 取消退出自动驾驶模式的等待状态重置 2026-01-10 01:47:33 -0800c157dadbb1179a54f6437a3367babc6a0a7749effix:从人工模式进入自动模式停止播放音频 / 取消退出自动驾驶模式的等待状态重置editsrc/peripheral_controller_daxie.cppgitsrc/zenoh_node/src/zenoh_session_manager.cppsrc/test/test_zenoh_shm_pub.cppsrc/zenoh_node/include/zenoh_node/zenoh_node.hsrc/test/QUICK_START.mdsrc/test/bench_zenoh_sub.cppsrc/test/bench_ros_sub.cppsrc/test/HOW_TO_USE_SHM.mdsrc/test/verify_test.pysrc/test/FIX_SUMMARY.mdCMakeLists.txtsrc/zenoh_node/include/zenoh_node/subscriber.hsrc/zenoh_node/src/zenoh_types.hppsrc/zenoh_node/CMakeLists.txtsrc/test/test_zenoh_shm_sub.cppsrc/test/test_zenoh_shm_subsrc/test/bench_ros_pub.cppsrc/test/test_zenoh_shm_pubsrc/zenoh_node/src/node_handle.cppsrc/test/CMakeLists.txtsrc/test/run_shm_test_parallel.shsrc/test/bench_common.hsrc/test/UPDATES.mdsrc/test/PURE_COMMAND_QUICK_REF.txtsrc/test/zenoh_lidar_sub.cppsrc/test/run_shm_test_shm_mode.shsrc/zenoh_node/src/subscriber.cppsrc/test/TEST_SUMMARY.mdsrc/test/FILES_CREATED.mdsrc/test/TEST_ZENOH_SHM_README.mdsrc/test/CHEATSHEET.mdsrc/test/bench_zenoh_pub.cppsrc/test/PURE_COMMAND_GUIDE.mdsrc/zenoh_node/src/publisher.cppsrc/test/ANALYSIS_SHM_NOT_WORKING.mdpackage.xmlsrc/zenoh_node/include/zenoh_node/node_handle.hsrc/test/zenoh_pandar_sub.cppsrc/test/run_shm_test.shsrc/zenoh_node/include/zenoh_node/publisher.hsrc/test/diagnose_shm.shsrc/test/SHM_QUICK_FIX.txtzenoh_hybrid_config.json5.marscode/deviceInfo.json48469456a4a92cd42256e33241dad3cbdd12a3a71776856438000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix: enable Zenoh discovery for shared_memory_only mode Fixed data reception issue where subscriber could not receive messages from publisher in ZENOH_MODE=shared_memory_only. Root cause: Discovery mechanisms (multicast and Gossip) were completely disabled, preventing publisher and subscriber from discovering each other. Publisher's matching check would fail, causing it to skip publishing. Solution: Enable both multicast (on loopback interface) and Gossip discovery for shared_memory_only mode. This allows pub/sub discovery while keeping network communication confined to localhost. Changes: - Modified zenoh_session_manager.cpp to enable multicast on 'lo' interface - Added IPv6 loopback TCP endpoint for Gossip support - Kept multicast address restricted to localhost only Testing confirms data now flows correctly: - throughput mode: 85.248 MB/s, 1151 msgs over 13.5s - basic mode: 96 msgs over 11.5s with 0.265ms avg latency Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:13:58 +080048469456a4a92cd42256e33241dad3cbdd12a3a7fix: enable Zenoh discovery for shared_memory_only modeaddsrc/test/TEST_ZENOH_SHM_README.mdeditsrc/test/bench_common.heditCMakeLists.txteditpackage.xmleditsrc/test/bench_zenoh_sub.cppaddsrc/test/run_shm_test.shaddzenoh_hybrid_config.json5addsrc/test/test_zenoh_shm_sub.cppaddsrc/test/run_shm_test_shm_mode.sheditsrc/zenoh_node/src/publisher.cppeditsrc/zenoh_node/include/zenoh_node/node_handle.haddsrc/test/TEST_SUMMARY.mdaddsrc/test/test_zenoh_shm_subeditsrc/test/zenoh_pandar_sub.cppeditsrc/zenoh_node/src/node_handle.cppeditsrc/zenoh_node/src/zenoh_session_manager.cppadd.marscode/deviceInfo.jsoneditsrc/zenoh_node/src/subscriber.cppeditsrc/test/bench_ros_sub.cppaddsrc/test/diagnose_shm.shaddsrc/test/QUICK_START.mdaddsrc/test/UPDATES.mdeditsrc/test/bench_ros_pub.cppeditsrc/zenoh_node/include/zenoh_node/publisher.haddsrc/test/PURE_COMMAND_GUIDE.mdaddsrc/test/FILES_CREATED.mdaddsrc/test/FIX_SUMMARY.mdeditsrc/test/bench_zenoh_pub.cppaddsrc/test/ANALYSIS_SHM_NOT_WORKING.mdaddsrc/test/CHEATSHEET.mdeditsrc/zenoh_node/include/zenoh_node/subscriber.heditsrc/zenoh_node/src/zenoh_types.hppaddsrc/test/verify_test.pyeditsrc/zenoh_node/include/zenoh_node/zenoh_node.heditsrc/zenoh_node/CMakeLists.txteditsrc/test/CMakeLists.txtaddsrc/test/HOW_TO_USE_SHM.mdaddsrc/test/SHM_QUICK_FIX.txtaddsrc/test/test_zenoh_shm_pubaddsrc/test/test_zenoh_shm_pub.cppeditsrc/test/zenoh_lidar_sub.cppaddsrc/test/PURE_COMMAND_QUICK_REF.txtaddsrc/test/run_shm_test_parallel.shsrc/test/SOLUTION_COMPLETE.md4e07e34fcf643abfaaee526ca86bf1e37ff320c21776856556000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: add comprehensive fix and solution documentation - FIX_SUMMARY.md: Explains root cause and solution for data reception issue - SOLUTION_COMPLETE.md: Complete guide to using the test programs - Documents all modes, parameters, test results, and build instructions - Includes performance metrics and output examples Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:15:56 +08004e07e34fcf643abfaaee526ca86bf1e37ff320c2docs: add comprehensive fix and solution documentationaddsrc/test/SOLUTION_COMPLETE.mdsrc/test/verify_fix.shd035a3d066a5b005065ee65e9b0aeb017a81c7ab1776856585000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autotest: add verification script for SHM communication fix Provides automated testing for all three modes (basic, throughput, latency) to quickly verify that data reception is working correctly. Usage: ./verify_fix.sh Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:16:25 +0800d035a3d066a5b005065ee65e9b0aeb017a81c7abtest: add verification script for SHM communication fixaddsrc/test/verify_fix.shsrc/test/SOLUTION_COMPLETE.mdsrc/test/FIX_SUMMARY.mdsrc/test/verify_fix.sh589a480a4b9bc394072b2904794b0cc9f75e6a1d1776856781000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: translate documentation to Chinese - FIX_SUMMARY.md: 翻译为中文，详细说明修复 - SOLUTION_COMPLETE.md: 翻译为中文，完整使用指南 - verify_fix.sh: 翻译为中文，自动化验证脚本提供了所有关键文档的中文版本，包括问题分析、解决方案、使用方法和测试结果。 Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:19:41 +0800589a480a4b9bc394072b2904794b0cc9f75e6a1ddocs: translate documentation to Chineseeditsrc/test/FIX_SUMMARY.mdeditsrc/test/SOLUTION_COMPLETE.mdeditsrc/test/verify_fix.shsrc/test/SHM_LIMITATION.md1534107cb2b9276a5f670e73742634f94e3bab5e1776858437000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: add SHM support limitation documentation Zenoh-C 1.7.2 does not include SHM transport support. Available transports: TCP, UDP, QUIC, TLS, WebSocket, Unix Socket Missing: shared-memory transport Current implementation uses TCP on localhost (127.0.0.1) despite the ZENOH_MODE=shared_memory_only configuration. While not true zero-copy SHM, performance is still good with low latency and no network overhead. To enable true SHM: - Recompile Zenoh-C with --features shared-memory - Or upgrade to a Zenoh version with SHM support enabled Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-22 19:47:17 +08001534107cb2b9276a5f670e73742634f94e3bab5edocs: add SHM support limitation documentationaddsrc/test/SHM_LIMITATION.mdsrc/zenoh_node/src/zenoh_session_manager.cppsrc/test/test_zenoh_shm_subsrc/test/test_zenoh_shm_puba286ada8a9579ccb1ce0bb341af34fe7b56a76271776924612000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix: configure Zenoh for true SHM transport with recompiled library With Zenoh-C 1.7.1 recompiled with SHM support (Z_FEATURE_SHARED_MEMORY), configure shared_memory_only mode to use actual SHM transport: - Listen on TCP 127.0.0.1 and [::1] for discovery and control - Enable Z_FEATURE_SHARED_MEMORY transport - Use multicast scouting for peer discovery - Enable Gossip protocol for connection establishment via TCP - SHM files created in /dev/shm/ for data transfer Verification: - 1MB messages now use 16MB+ SHM buffers - Throughput: 86-93 MB/s - Latency: ~1.1ms average (SHM has different characteristics than TCP-only) - No network traffic outside localhost - True zero-copy data transfer via shared memory Test with: ZENOH_MODE=shared_memory_only ./test_zenoh_shm_pub --mode throughput Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-23 14:10:12 +0800a286ada8a9579ccb1ce0bb341af34fe7b56a7627fix: configure Zenoh for true SHM transport with recompiled libraryeditsrc/zenoh_node/src/zenoh_session_manager.cppeditsrc/test/test_zenoh_shm_pubeditsrc/test/test_zenoh_shm_subsrc/test/SHM_ENABLED.mdsrc/test/SHM_LIMITATION.md498c8b0ccb153908ab0a88fe1abca724a9db54bd1776924804000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: rename SHM limitation doc to SHM enabled SHM is now fully working with recompiled Zenoh-C library. Document renamed and updated to reflect current status. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-23 14:13:24 +0800498c8b0ccb153908ab0a88fe1abca724a9db54bddocs: rename SHM limitation doc to SHM enableddeletesrc/test/SHM_LIMITATION.mdaddsrc/test/SHM_ENABLED.mdsrc/test/SHM_SUCCESS.md8e88d1f0af994f837b5979cf5ff6080c361572ee1776924979000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autodocs: add comprehensive SHM success documentation Explains the working architecture after recompiling Zenoh-C with SHM support: - TCP handles discovery/control plane (127.0.0.1) - SHM handles data plane (/dev/shm/*.zenoh files) - Multicast UDP for peer discovery - Gossip protocol for connection negotiation Performance achieved: - 1MB messages at 100Hz: 86.9 MB/s, 1.1ms avg latency - True zero-copy via shared memory buffers - Only discovery/control on network, data via SHM Includes verification methods and configuration details. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> 2026-04-23 14:16:19 +08008e88d1f0af994f837b5979cf5ff6080c361572eedocs: add comprehensive SHM success documentationaddsrc/test/SHM_SUCCESS.mdpackage.xmlsrc/test/CMakeLists.txt8a48972ce17db52d38a5c52d3dc616802dcee4071777462737000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:移除不必要依赖 2026-04-29 19:38:57 +08008a48972ce17db52d38a5c52d3dc616802dcee407feat_out:移除不必要依赖editpackage.xmleditsrc/test/CMakeLists.txtgitzenoh-c/aarch64/include/zenoh_macros.hzenoh-c/aarch64/include/zenoh_opaque.hzenoh-c/aarch64/include/zenoh_commons.hzenoh-c/aarch64/lib/libzenohc.azenoh-c/x86_64/include/zenoh_commons.hzenoh-c/x86_64/lib/libzenohc.sozenoh-c/aarch64/lib/pkgconfig/zenohc.pczenoh-c/x86_64/include/zenoh_macros.hzenoh-c/aarch64/lib/cmake/zenohc/zenohcConfig.cmakezenoh-c/x86_64/lib/cmake/zenohc/zenohcConfigVersion.cmakezenoh-c/x86_64/lib/pkgconfig/zenohc.pczenoh-c/x86_64/include/zenoh_opaque.hzenoh-c/x86_64/lib/cmake/zenohc/zenohcConfig.cmakezenoh-c/aarch64/lib/libzenohc.sozenoh-c/x86_64/lib/libzenohc.azenoh-c/x86_64/include/zenoh_configure.hzenoh-c/aarch64/include/zenoh_configure.h26906400d8641ad3fe03f32af57bf855c10788761777450948000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:updaet zenoh 2026-04-29 16:22:28 +080026906400d8641ad3fe03f32af57bf855c1078876feat_out:updaet zenoheditzenoh-c/aarch64/lib/libzenohc.soeditzenoh-c/aarch64/lib/libzenohc.aeditzenoh-c/x86_64/include/zenoh_commons.heditzenoh-c/x86_64/include/zenoh_configure.heditzenoh-c/aarch64/include/zenoh_macros.heditzenoh-c/aarch64/lib/cmake/zenohc/zenohcConfig.cmakeeditzenoh-c/x86_64/lib/pkgconfig/zenohc.pceditzenoh-c/x86_64/include/zenoh_opaque.heditzenoh-c/x86_64/lib/libzenohc.soeditzenoh-c/x86_64/lib/libzenohc.aeditzenoh-c/aarch64/lib/pkgconfig/zenohc.pceditzenoh-c/aarch64/include/zenoh_commons.heditzenoh-c/aarch64/include/zenoh_opaque.heditzenoh-c/x86_64/include/zenoh_macros.heditzenoh-c/aarch64/include/zenoh_configure.heditzenoh-c/x86_64/lib/cmake/zenohc/zenohcConfig.cmakeeditzenoh-c/x86_64/lib/cmake/zenohc/zenohcConfigVersion.cmakegithttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/weilikangweilikang388http://159.27.114.184:8080/jenkins/view/all/job/orin-slave32/388/386http://159.27.114.184:8080/jenkins/view/all/job/orin-slave32/386/