Support trajectory switching and update the decision logic for operation mode and MRM

[isamu-takagi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

While we've added support for a command switching mechanism for MRM in #9235, we now need a trajectory switching function to support the AI ​​planner. This is to allow switching from traditional rule-based planners or to use a trajectory generator for MRM as a backup.

It also supports interfaces for ECU redundancy: https://github.com/orgs/autowarefoundation/discussions/6932

Purpose

• Using AI planner and rule-based planner together
• Support for MRM that outputs trajectory

Possible approaches

Autoware's behavior is represented by a combination of several gates/selectors. Here, we will refer to each behavior as a "driving mode" for identification purposes, but the specific details will be determined during the vehicle integration process. The following diagram considers five modes: AutoMode1, AutoMode2, MRM1, MRM2, and RemoteMode.

A trajectory gate takes three candidate inputs: T1, T2, and T3. Similarly, a command gate also takes three candidate inputs: C1, C2, and C3. The vehicle interface is a bit unique, but it also has control modes such as MANUAL, AUTO, and STEER_ONLY. The driving modes are represented by combinations of these, as shown in the table below.

Driving Mode	Trajectory Gate	Command Gate	Vehicle Interface
AutoMode1	T1	C1	AUTO
AutoMode2	T2	C1	AUTO
MRM1	T3	C1	AUTO
MRM2	any	C2	AUTO
RemoteMode	any	C3	AUTO

The diagnostic graph is configured to show the availability of each driving mode. From this, the currently available driving mode is determined and the gate is switched.

Definition of done

• Add trajectory gate
• Add gate controller
• Remove external_cmd_selector
• Move operation_mode_transition_manager logics