feat(intersection): initially ignore occlusion at intersection with tl, if tl info has never been available

[soblin]

Description

depends #6272

this PR affects only intersections with traffic lights.

for the convenience of Psim users and scenario files, if no corresponding traffic light information is published for the associated traffic light, it is treated as "RED" and it only runs collision checking.

Related links

Tests performed

tested by setting enable.occlusion to true

until [00:58], no traffic signal information is published, so only collision is checked initially because traffic light is not published.

at [00:58] traffic light is published, so occlusion detection becomes effective and ego starts peeking and then stops.

at [02:10] the color is GREEN and intersection_occlusion is effective, but after that it turns YELLOW/RED, and intersection_occlusion is ignore.

PR6273-2024-02-02_19.38.31.mp4

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[mergify]

⚠️ The sha of the head commit of this PR conflicts with #6272. Mergify cannot evaluate rules on this PR. ⚠️

[mergify]

⚠️ The sha of the head commit of this PR conflicts with #6272. Mergify cannot evaluate rules on this PR. ⚠️

[mergify]

⚠️ The sha of the head commit of this PR conflicts with #6272. Mergify cannot evaluate rules on this PR. ⚠️

[codecov]

Codecov Report

Attention: 67 lines in your changes are missing coverage. Please review.

Comparison is base (fa8424d) 14.37% compared to head (ee83469) 14.36%.
Report is 3 commits behind head on main.

Files	Patch %	Lines
...ity_intersection_module/src/scene_intersection.cpp	0.00%	30 Missing ⚠️
...ehavior_velocity_intersection_module/src/debug.cpp	0.00%	24 Missing ⚠️
...ion_module/src/scene_intersection_prepare_data.cpp	0.00%	11 Missing ⚠️
...ection_module/src/scene_intersection_occlusion.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6273      +/-   ##
==========================================
- Coverage   14.37%   14.36%   -0.01%     
==========================================
  Files        1907     1907              
  Lines      130072   130108      +36     
  Branches    37618    37639      +21     
==========================================
  Hits        18695    18695              
- Misses      90367    90402      +35     
- Partials    21010    21011       +1     

Flag	Coverage Δ		*Carryforward flag
differential	4.63% <0.00%> (?)
total	14.37% <ø> (+<0.01%)	⬆️	Carriedforward from fa8424d

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