fix(avoidance): transit rtc cooperate state to FAILED from RUNNING (autowarefoundation#6998)

fix(avoidance): transit to FAILED from RUNNING when the module reverts avoidance path

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp

@@ -26,6 +26,7 @@
 #include <rclcpp/node.hpp>
 #include <rclcpp/time.hpp>
 
+#include <limits>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -136,9 +137,15 @@ class AvoidanceModule : public SceneModuleInterface
   void removeCandidateRTCStatus()
   {
     if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) {
-      rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_);
-    } else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
-      rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_);
+      rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
+        candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::lowest(),
+        std::numeric_limits<double>::lowest(), clock_->now());
+    }
+
+    if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) {
+      rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
+        candidate_uuid_, true, State::FAILED, std::numeric_limits<double>::lowest(),
+        std::numeric_limits<double>::lowest(), clock_->now());
     }
   }
 
@@ -360,10 +367,21 @@ class AvoidanceModule : public SceneModuleInterface
 
     unlockNewModuleLaunch();
 
+    for (const auto & left_shift : left_shift_array_) {
+      rtc_interface_ptr_map_.at("left")->updateCooperateStatus(
+        left_shift.uuid, true, State::FAILED, std::numeric_limits<double>::lowest(),
+        std::numeric_limits<double>::lowest(), clock_->now());
+    }
+
+    for (const auto & right_shift : right_shift_array_) {
+      rtc_interface_ptr_map_.at("right")->updateCooperateStatus(
+        right_shift.uuid, true, State::FAILED, std::numeric_limits<double>::lowest(),
+        std::numeric_limits<double>::lowest(), clock_->now());
+    }
+
     if (!path_shifter_.getShiftLines().empty()) {
       left_shift_array_.clear();
       right_shift_array_.clear();
-      removeRTCStatus();
     }
 
     generator_.reset();

planning/behavior_path_avoidance_module/src/scene.cpp

@@ -1283,7 +1283,6 @@ void AvoidanceModule::updateData()
 void AvoidanceModule::processOnEntry()
 {
   initVariables();
-  removeRTCStatus();
 }
 
 void AvoidanceModule::processOnExit()