feat(autoware_traffic_light_arbiter): add current time validation

[MasatoSaeki]

Description

This PR enables to validate external messages compared by current time.

Related links

Parent Issue:

• TIER IV INTERNAL LINK
• feat(autoware_traffic_light_arbiter): add current time validation autoware_launch#1289

How was this PR tested?

I have checked it on Evaluator.

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	external_delay_tolerance	double	5.0	The duration in seconds an external message is considered valid for merging in comparison with current time

Effects on system behavior

None.

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[knzo25]

I see changes that aim to address the sync issues between the V2X source and the perception stack (I did not consider that during the original implementation). To handle all the possible cases, could you make the comparisons using std::abs ?

[knzo25]

The tests seem to be failing. Maybe the stamps need to be generated during the test?

[MasatoSaeki]

@knzo25
Thanks for your input.

I see changes that aim to address the sync issues between the V2X source and the perception stack (I did not consider that during the original implementation). To handle all the possible cases, could you make the comparisons using std::abs ?

fixed in 982643f

The tests seem to be failing. Maybe the stamps need to be generated during the test?

fixed in e2916dd

[codecov]

Codecov Report

Attention: Patch coverage is 44.44444% with 5 lines in your changes missing coverage. Please review.

Project coverage is 29.75%. Comparing base (4045fb3) to head (0e85287).
Report is 13 commits behind head on main.

Files with missing lines	Patch %	Lines
...raffic_light_arbiter/src/traffic_light_arbiter.cpp	44.44%	3 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9747      +/-   ##
==========================================
- Coverage   29.75%   29.75%   -0.01%     
==========================================
  Files        1444     1444              
  Lines      108722   108736      +14     
  Branches    42699    42704       +5     
==========================================
+ Hits        32354    32357       +3     
- Misses      73185    73194       +9     
- Partials     3183     3185       +2     

Flag	Coverage Δ		*Carryforward flag
differential	4.61% <44.44%> (?)
total	29.75% <ø> (-0.01%)	⬇️	Carriedforward from e2916dd

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[knzo25]

@MasatoSaeki

It seems there is a ci/cd error:

perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp:241:  Add #include <algorithm> for max  [build/include_what_you_use] [4]
Done processing perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp

[MasatoSaeki]

@knzo25
I fixed in 0e85287

[knzo25]

LGTM

[MasatoSaeki]

@YoshiRi
Could you check this PR regarding change requested?

[YoshiRi]

LGTM