feat(intersection): send intersection/intersection_occlusion rtc status

[soblin]

Description

Always send two intersection cooperate status:

• when occlusion is not detected:
  • default intersection and (safe, -inf) intersection_occlusion status
• when occlusion is detected
  • before first stop line:
    • intersection_occlusion and intersection(for first stop line)
  • after first stop line:
    • intersection_occlusion and default intersection(for collision checking)

Related links

https://tier4.atlassian.net/browse/RT1-2166

Tests performed

When occlusion is not detected:

When occlusion is not detected:

Notes for reviewers

This should be stress tested with FOA.

Interface changes

For each intersection, there will always be intersection and intersection_occlusion rtc status.

Effects on system behavior

For each intersection, there will always be intersection and intersection_occlusion rtc status.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (a3a653d) 14.61% compared to head (dd683d5) 14.61%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3511      +/-   ##
==========================================
- Coverage   14.61%   14.61%   -0.01%     
==========================================
  Files        1294     1294              
  Lines       92007    92012       +5     
  Branches    29071    29082      +11     
==========================================
  Hits        13451    13451              
- Misses      64111    64116       +5     
  Partials    14445    14445              

Flag	Coverage Δ		*Carryforward flag
differential	3.45% <0.00%> (?)
total	14.62% <ø> (+<0.01%)	⬆️	Carriedforward from a3a653d

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

Impacted Files	Coverage Δ
...e/scene_module/intersection/scene_intersection.hpp	0.00% <0.00%> (ø)
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <ø> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.