feat(behavior_velocity_traffic_light): ensure stopping if a signal, once received, is not received again

[TomohitoAndo]

Description

In the current implementation, the decision to proceed is made individually for each traffic signal. As a result, the ego vehicle sometimes moves forward even when a signal message is not received.
To address this issue, I introduced a variable that tracks whether a signal message has been received. Now, if a signal message is received but a subsequent traffic signal message is not, the ego vehicle will stop.

simplescreenrecorder-2024-02-21_15.33.29.mp4

Related

TIER IV INTERNAL LINK

Tests performed

I conducted tests in simple planning simulator.
In the following video, if the traffic signal of 1008 has once received, the stop point is inserted to the traffic signal of 1002 because the signal for it is not received.

simplescreenrecorder-2024-02-21_15.17.05.mp4

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (871f8f2) 15.10% compared to head (ee82014) 15.10%.
Report is 10 commits behind head on main.

Files	Patch %	Lines
...havior_velocity_traffic_light_module/src/scene.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6468   +/-   ##
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  Coverage   15.10%   15.10%           
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  Files        1823     1823           
  Lines      126292   126294    +2     
  Branches    38188    38189    +1     
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+ Hits        19075    19076    +1     
- Misses      85826    85827    +1     
  Partials    21391    21391           

Flag	Coverage Δ		*Carryforward flag
differential	11.59% <33.33%> (?)
total	15.10% <ø> (+<0.01%)	⬆️	Carriedforward from 518cda6

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[TomohitoAndo]

I updated comments for more clarity.
ee82014