feat(rtc_interface, lane_change): check state transition for cooperate status

[go-sakayori]

Description

A new filed tier4_rtc_msgs/State state was introduced in the rt cooperate status previously. This field is used to observe the state transition of the rtc message. However, inappropriate state transition could be occurred since there was no limitation in the rtc interface module.

In this PR, I have checked the state transition inside the updateCooperateStatus function.
Additionally, the RTC state transition is fixed in the lane change module.
The cooperateState status would transit to failure when the module can only transit to FAILURE.
Being specific, it should not transit to FAILED inside planWaitingApproval function, although the lane change module status could be kept WAITING_APPROVAL due to canTransitFailureState function.

Related links

tier4/tier4_autoware_msgs#119
#8604

How was this PR tested?

• TIER IV internal test

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[satoshi-ota]

Good 👍 LGTM.

[codecov]

Codecov Report

Attention: Patch coverage is 66.66667% with 6 lines in your changes missing coverage. Please review.

Project coverage is 27.82%. Comparing base (eaacae4) to head (58e1ae2).
Report is 5 commits behind head on main.

Files with missing lines	Patch %	Lines
...nning/autoware_rtc_interface/src/rtc_interface.cpp	66.66%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8855      +/-   ##
==========================================
- Coverage   27.82%   27.82%   -0.01%     
==========================================
  Files        1325     1329       +4     
  Lines       98809    98848      +39     
  Branches    39668    39675       +7     
==========================================
+ Hits        27495    27502       +7     
- Misses      71235    71314      +79     
+ Partials       79       32      -47     

Flag	Coverage Δ		*Carryforward flag
differential	24.15% <66.66%> (?)
total	27.82% <ø> (-0.01%)	⬇️	Carriedforward from aaf5f27

*This pull request uses carry forward flags. Click here to find out more.

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[go-sakayori]

@satoshi-ota
Since I've made a minor change eba9d50 after you reviewed, can you check it once more. Thank you in advance.

[zulfaqar-azmi-t4]

LGTM!