feat(behavior_path_planner): allow reroute when always executable module running or candidate modules is running

[kosuke55]

Description

when only always executable modules (like fixed_goal_planner, dynamic avoidance(in the future?)) are running, reroute is allowd.

Tests performed

psim

https://evaluation.tier4.jp/evaluation/reports/5c739408-fb86-5a94-93ef-b6d9ee3c30ad?project_id=prd_jt

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 1281 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (0f5945d) 10.23%.
Report is 162 commits behind head on main.

Files	Patch %	Lines
...anner/src/utils/avoidance/shift_line_generator.cpp	13.19%	435 Missing and 65 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	0.58%	168 Missing and 2 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	10.48%	111 Missing and 17 partials ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	1.92%	97 Missing and 5 partials ⚠️
...cene_module/start_planner/start_planner_module.cpp	23.52%	68 Missing and 10 partials ⚠️
..._path_planner/src/marker_utils/avoidance/debug.cpp	0.00%	61 Missing ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	18.86%	0 Missing and 43 partials ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	28 Missing ⚠️
..._planner/src/scene_module/goal_planner/manager.cpp	11.53%	2 Missing and 21 partials ⚠️
...planner/src/scene_module/start_planner/manager.cpp	11.53%	6 Missing and 17 partials ⚠️
... and 20 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5786       +/-   ##
===========================================
- Coverage   15.32%   10.23%    -5.09%     
===========================================
  Files        1721       80     -1641     
  Lines      118559    11098   -107461     
  Branches    37995     6208    -31787     
===========================================
- Hits        18169     1136    -17033     
+ Misses      79657     7803    -71854     
+ Partials    20733     2159    -18574     

Flag	Coverage Δ
differential	10.23% <14.02%> (?)
total	?

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