fix(planner_manager): use LIFO policy in approved modules unregistering

[satoshi-ota]

Description

The planner manager doesn't control the order of removing expired modules from approved modules but I'm sure that it is better to define removing policy.

Since the last added module's output path is generated from first added module's output, perhaps the last added module's output changes greatly if it removes the first added module at first. And I think that it is safer to remove modules based on Last In First Out rule.

In this PR, I use Last In First Out policy in unregistering logic.

On the other hand, when the lane change module finishes with ModuleStatus::SUCCESS, root lanelet and the input of first added module (module A in following fig) will be updated.

This also causes large path change, so the manager waits for all module success, only when it removes lane change module.

Related links

Tests performed

[LC+Avoidance scenarios] All PASS

Notes for reviewers

Interface changes

Nothing

Effects on system behavior

Improve LC+Avoidance maneuver.

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (dbf9876) 13.25% compared to head (988a7d0) 13.25%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3434   +/-   ##
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  Coverage   13.25%   13.25%           
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  Files        1384     1384           
  Lines       97094    97094           
  Branches    28246    28246           
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  Hits        12867    12867           
  Misses      70410    70410           
  Partials    13817    13817           

Flag	Coverage Δ		*Carryforward flag
differential	12.30% <ø> (?)
total	13.25% <ø> (ø)		Carriedforward from dbf9876

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[kosuke55]

looks good to me