MADS: Safety migration fixes

[sunnyhaibin]

Introduced in #67, some changes for MADS were not migrated over correctly.

Summary by Sourcery

Fixes issues introduced in a previous pull request related to MADS safety by ensuring correct migration of changes. This includes changes to steering angle command checks and updates to the base classes for MADS safety tests.

Enhancements:

• Updates steering angle command checks to use is_lat_active() instead of controls_allowed to determine lateral control availability.
• Refactors MADS safety tests to use a new base class MadsSafetyTestBase and introduces abstract methods for LKAS button and ACC state messages.
• Updates PandaCarSafetyTest to inherit from MadsSafetyTestBase instead of MadsCommonBase

Tests:

• Adds a TODO comment for steering safety tests to check controls_allowed and controls_allowed_lat.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request refactors the MADS safety tests and updates the steering angle command checks. The base class for MADS safety tests was refactored to use an abstract base class and include a safety attribute. PandaCarSafetyTest was updated to inherit from the new MadsSafetyTestBase. The steering angle command checks were modified to use is_lat_active() instead of controls_allowed.

Updated class diagram for MADS safety tests

Loading

classDiagram
    class MadsSafetyTestBase {
        <<abstract>>
        +safety
    }
    class PandaCarSafetyTest {
    }

    MadsSafetyTestBase <|-- PandaCarSafetyTest
    note for MadsSafetyTestBase "Base class for MADS safety tests, using an abstract base class and including a safety attribute."

File-Level Changes

Change	Details	Files
Refactored the base class for MADS safety tests to use an abstract base class and include a safety attribute.	Replaced MadsCommonBase with MadsSafetyTestBase which inherits from abc.ABC. Added a safety attribute of type libsafety_py.Panda to MadsSafetyTestBase. Imported the abc module.	opendbc/safety/tests/mads_common.py
Updated PandaCarSafetyTest to inherit from the new MadsSafetyTestBase.	Inherited from MadsSafetyTestBase instead of MadsCommonBase.	opendbc/safety/tests/common.py
Modified the steering angle command checks to use is_lat_active() instead of controls_allowed.	Replaced !controls_allowed with !is_lat_active() in the steer_angle_cmd_checks function.	opendbc/safety/safety.h

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