[Jenkins]Jenkins

Changes

Summary

  1. Update vehicleInfo.groovy (details)
Commit 01612b8d433fe66aa2d266f8acc2fdcdce51a0d6 by weilikang
Update vehicleInfo.groovy
The file was modifiedsrc/org/devops/vehicleInfo.groovy

Summary

  1. Update yiwu-suxi-submodule.jenkinsfile (details)
Commit 012ab97ba1fcf4f1270959a56f1a10162959f97d by weilikang
Update yiwu-suxi-submodule.jenkinsfile
The file was modifiedparams/yiwu-suxi-submodule.jenkinsfile

Summary

  1. fix: add smooth_mode opt (details)
  2. fix: smooth mode optimization (details)
  3. fix: cancel wbca smooth_mode for the first frame (details)
  4. feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 (details)
  5. fix: curature over limit stop optimization (details)
  6. chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 (details)
  7. refactor: SSEP: 重构OGM构建流程 (details)
  8. feat: 添加skills到.gitignore以忽略相关文件 (details)
  9. fix: step align状态下，吊具防护，montion状态机切换的bug (details)
  10. fix:修复进充电桩，场景适配错误的bug (details)
  11. fix: Keb: 删除未用到的“BuildKebOGM”方法 (details)
  12. feat(hmi): 新增路径曲线面板 path_curve_detail (details)
  13. refactor:优化引导线曲率跳变的bug (details)
  14. fix: 更新 clang-format 命令的使用说明和检查逻辑 (details)
  15. feat: 添加软约束以支持初始状态的灵活性 (details)
  16. fix: 注释掉停止车辆的初始化日志输出 (details)
  17. fix: Keb: 增加IMV后方碰撞检测距离 (details)
  18. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  19. feat: 添加CloudTrajectoryPoint的赋值运算符重载 (details)
  20. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  21. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  22. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  23. fix:合并的bug (details)
  24. feat: 重构障碍物风险评估器，另外添加 横路不进行 龙门吊风险限速的功能。 (details)
  25. fix: add lane_change_path_task v2 (details)
  26. refactor:优化看门狗功能 (details)
  27. fix: 移除不必要的等待调用以优化重置过程 (details)
  28. fix:西联上下引桥 不创建双黄线约束 (details)
  29. fix: SSEP: 修复新版本优化偶发输出异常的问题 (details)
  30. feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 (details)
  31. feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离 (details)
  32. fix:修复变道完成后目标车道切换错误的bug (details)
  33. fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ (details)
  34. feat: 添加堆高机靠近是否切换状态机的开关参数 (details)
  35. refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束 (details)
  36. feat: <大谢>进堆场机场忽略终点约束 (details)
Commit ec973944b1c5336b5bc7b0be2ee23c1fe9e8722c by chenran
fix: add smooth_mode opt
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/wbca/wbca_data.cpp
Commit 3d1116dbde5bce9a82f7fe09b17c4bb1d4191b92 by chenran
fix: smooth mode optimization
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.hpp
Commit f9a6597d905bb67f260fa38a8a12d1c0fa1d5023 by chenran
fix: cancel wbca smooth_mode for the first frame
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit bf5c8b6a5d40a577e06606874e8c3225fb2d58ee by tangwenqing
feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.rectclip.h
The file was addedssep/common/utils/clipper2/src/clipper.offset.cpp
The file was addedssep/common/utils/clipper2/src/clipper.engine.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.offset.h
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.export.h
The file was addedssep/keb_optimizer/cost_features/cost_functions.h
The file was addedssep/common/utils/clipper2/src/clipper.triangulation.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.engine.h
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedssep/keb_optimizer/cost_features/sdf_disk_collision_cost.h
The file was addedssep/common/utils/clipper2/src/clipper.rectclip.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.triangulation.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.minkowski.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.version.h
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was addedssep/keb_optimizer/distance_field_interpolator.h
The file was modifiedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.core.h
Commit 4e529beda6281c89daa913f798b557c92d0a3df5 by chenran
fix: curature over limit stop optimization
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 5b1a62a1b19dc733d075fcb7f51dab31938582f4 by tangwenqing
chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑

The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/maps/ogm.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils_core.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 7af0c7391673b03d1f2c27d375eb87e89d84fdcf by tangwenqing
refactor: SSEP: 重构OGM构建流程

The file was addedssep/maps/ogm_config_utils.h
The file was addedssep/maps/ogm_config_utils.cc
The file was modifiedssep/ssep_planner.cc
Commit be3ce1d49b1c6d7f491a658c7263620f1afcb722 by wuyanjun110
feat: 添加skills到.gitignore以忽略相关文件
The file was modified.gitignore
Commit c8876f9999372ab3bfe13fbffda89c1ecef66548 by wuyanjun110
fix: step align状态下，吊具防护，montion状态机切换的bug
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
Commit a36a7f30bdbce770bcbb209a26e659a01417e257 by wuyanjun110
fix:修复进充电桩，场景适配错误的bug
The file was modifieddata/map/pnc_map/pnc_map_helper.cpp
The file was modifieddata/map/pnc_map/pnc_map_helper.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 72ef714fd0e866823e7d2dd7c0df42e08a47dac7 by tangwenqing
fix: Keb: 删除未用到的“BuildKebOGM”方法

The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedtasks/plan/keb_utils.cpp
Commit 9303bd8e2d53b8012b3756c1275e8ce4f9599094 by wuyanjun110
feat(hmi): 新增路径曲线面板 path_curve_detail
The file was addedhmi/widget/path_curve_detail.cpp
The file was addedhmi/widget/path_curve_detail.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/node_hmi.hpp
The file was modifiedhmi/replayer_hmi.hpp
Commit aceeded995c38d29a70420d2aa4721405dd9f2f3 by wuyanjun110
refactor:优化引导线曲率跳变的bug
The file was modifiedalgorithm/util/curvature.cpp
The file was modifieddata/common/guide_path.cpp
The file was modifieddata/plan/path_data.cpp
The file was modifiedalgorithm/util/curvature.hpp
Commit c993e76f4bcac3a41330f1f0e86409606f30ba66 by wuyanjun110
fix: 更新 clang-format 命令的使用说明和检查逻辑
The file was modifiedscripts/clang_format.sh
Commit dcf2390c1b8735e60ba08704a7d4c9796a2fb94f by wuyanjun110
feat: 添加软约束以支持初始状态的灵活性

- 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。
- 更新了相关的计算和约束逻辑，以支持软约束的引入。
- 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。
- 进行了代码格式化和逻辑优化，提高了代码可读性。
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
Commit e9c9d88b14b740b58efb48bf08c66eb9620ac484 by wuyanjun110
fix: 注释掉停止车辆的初始化日志输出
The file was modifiedalgorithm/plan/pjpo.cpp
Commit be675513a5048a731785209afa4355e958d793f7 by tangwenqing
fix: Keb: 增加IMV后方碰撞检测距离

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 1b8760659f115f904630f63c1c3846324e8a6a07 by wuyanjun110
feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测
The file was modifieddata/plan_frame.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/config/cfg_hmi.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit c5cb73ea011dc96e57e8627246e29fe6cd3f8b28 by wuyanjun110
feat: 添加CloudTrajectoryPoint的赋值运算符重载
The file was modifieddata/plan/cloud_trajectory.hpp
Commit cf2d8b2594e72a6829842a63598cdefe67a0cb60 by wuyanjun110
feat: 注释掉OgmCollisionPos函数中的更新检查
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit b7d0da6551b2d1288386fb5485e8e7358efaf952 by wuyanjun110
feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/config/cfg_hmi.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/plan_frame.cpp
Commit 5b60ab02615b439f33dce7bc015d900f4583ecf5 by wuyanjun110
feat: 注释掉OgmCollisionPos函数中的更新检查
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit 2be76502ab8460d9f50c979959c2bde171ff05e2 by wuyanjun110
fix:合并的bug
The file was modifiedhmi/replayer_hmi.cpp
Commit 2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf by wuyanjun110
feat: 重构障碍物风险评估器，另外添加 横路不进行 龙门吊风险限速的功能。
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.hpp
The file was modifiedalgorithm/plan/obstacle_risk_evaluation.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit b7f53a0bfa8f370f104b66a273b55a68190e004f by chenran
fix: add lane_change_path_task v2
The file was modifieddata/config/cfg_lat_plan.hpp
The file was addedtasks/plan/lane_change_path_task_v2.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was addedtasks/plan/lane_change_path_task_v2.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedconfig/config_imv/scenario.yaml
The file was modifiedtasks/task_factory.cpp
The file was modifieddata/config/cfg_stage.cpp
Commit d428f839d466a526ed34f78e031585e10206975a by wuyanjun110
refactor:优化看门狗功能
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiednode/logic.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedcore/plan_runtime_watchdog.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
Commit 42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf by wuyanjun110
fix: 移除不必要的等待调用以优化重置过程
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit bbba4b68d977b68cf50ceb2db84de981abafc74b by wuyanjun110
fix:西联上下引桥 不创建双黄线约束
The file was modifieddata/ssep/bridge_junction_ec.cpp
Commit 34fb15d729dc025a5e709bdc5d855a2b19ba79ae by tangwenqing
fix: SSEP: 修复新版本优化偶发输出异常的问题

The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit fc11109b411434af2c1576ab31bc526414572915 by wuyanjun110
feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件
The file was modifiedoffboard/keb_vis_server/CMakeLists.txt
Commit dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6 by tangwenqing
feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离

The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
Commit 59d9ca2c7297bdf49abd6f72e63f19136f01a75e by wuyanjun110
fix:修复变道完成后目标车道切换错误的bug
The file was modifieddata/plan/reference_line_info.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 626f5302148dff1d0e44b0e882d968958c623674 by tangwenqing
fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit b9e4184e63310b64757ecda7a87a85ac35332129 by wuyanjun110
feat: 添加堆高机靠近是否切换状态机的开关参数

新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true),
控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 7b96a6a2732a9d5b6237c0c145012521be41fab4 by wuyanjun110
refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束
The file was modifiedalgorithm/plan/pjpo.cpp
Commit 2f08ec55f85fce32706cf3970a8fe7fbbde0186f by wuyanjun110
feat: <大谢>进堆场机场忽略终点约束
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp