fix: segmentation fault due to race condition.

[xygyo77]

Description

Segmentation failure occurred at autoware pandar_node_container.
From the backtrace, it was confirmed that it occurs within TracingController::add_allowed_messages() in caret_trace.

Related links

https://tier4.atlassian.net/browse/RT2-1592

Notes for reviewers

After adding an exclusive lock to add_allowed_messages(), the segmentation fault no longer occurred, but the cause was unknown.
Examination revealed that ‘writes’ were mixed in the shared lock and that the segmentation fault was caused by corruption of the map data due to thread contention.
The shared and exclusive locks were reviewed with a focus on TracingController and the following modifications were made.

• Move add_allowed_messages() from is_allowed_publisher_handle_and_add_message() to ros_trace_rclcpp_intra_publish()
• As a result, is_allowed_publisher_handle_and_add_message() can now be replaced by is_allowed_publisher_handle()
• is_allowed_node() → std::shared_lock
• is_allowed_subscription_handle() → changed to std::shared_lock
• is_allowed_timer_handle() → changed to std::lock_guard *
• is_allowed_state_machine() → changed to std::lock_guard *
• add_allowed_messages() → std::lock_guard
  With the * mark, thread races could occur separately from this issue

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[codecov-commenter]

Codecov Report

Attention: Patch coverage is 17.64706% with 14 lines in your changes are missing coverage. Please review.

Project coverage is 55.18%. Comparing base (75e1c3f) to head (b4095fc).
Report is 15 commits behind head on main.

Files	Patch %	Lines
CARET_trace/src/tracing_controller.cpp	21.42%	7 Missing and 4 partials ⚠️
CARET_trace/src/ros_trace_points.cpp	0.00%	3 Missing ⚠️

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Additional details and impacted files

@@             Coverage Diff             @@
##             main     #285       +/-   ##
===========================================
+ Coverage   25.02%   55.18%   +30.16%     
===========================================
  Files          58       28       -30     
  Lines        3321     2180     -1141     
  Branches     1085     1215      +130     
===========================================
+ Hits          831     1203      +372     
+ Misses       1756      697     -1059     
+ Partials      734      280      -454     

Flag	Coverage Δ
differential	55.18% <17.64%> (?)
total	?

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[isp-uetsuki]

LGTM

[ymski]

LGTM