tests

MSPA: `lateralPlanSP` legacy support #86

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Run time

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Job	Run time
build	3m 34s
unit tests (MSGQ)	4m 5s
static analysis	3m 50s
unit tests (ZMQ)	9m 38s
unit tests (--asan, MSGQ)	5m 1s
unit tests (--asan, ZMQ)	11m 2s
unit tests (--ubsan, MSGQ)	5m 7s
unit tests (--ubsan, ZMQ)	10m 54s
	53m 11s