MADS: Steering Mode on Brake Pedal Press

[sunnyhaibin]

Reimplement #89

Summary by Sourcery

Adds the ability to pause lateral control when the brake pedal is pressed, instead of fully disengaging. This is controlled by a new parameter in the MADS settings.

Enhancements:

• Adds a new parameter to MADS settings to control whether lateral control is paused or disengaged when the brake pedal is pressed.

Tests:

• Adds tests for the new pause lateral on brake functionality.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request introduces a new feature that allows the system to pause lateral control upon brake pedal press instead of fully disengaging. It also renames a constant to better reflect its purpose within the MADS system.

Sequence diagram for lateral control on brake with pause

sequenceDiagram
  participant Driver
  participant MADS

  Driver->>MADS: Presses brake pedal
  activate MADS
  MADS->>MADS: m_update_control_state()
  alt m_mads_state.pause_lateral_on_brake is true
    MADS->>MADS: Pauses lateral control
  else
    MADS->>MADS: Disengages lateral control
  end
  deactivate MADS

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Updated class diagram for MADSState

classDiagram
  class MADSState {
    bool system_enabled
    bool disengage_lateral_on_brake
    bool pause_lateral_on_brake
    bool controls_requested_lat
    bool controls_allowed_lat
  }

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File-Level Changes

Change	Details	Files
Introduce a new pause_lateral_on_brake feature to temporarily pause lateral control when the brake pedal is pressed, instead of fully disengaging.	Added pause_lateral_on_brake boolean to MADSState struct. Added ALT_EXP_MADS_PAUSE_LATERAL_ON_BRAKE constant. Modified mads_set_system_state to accept pause_lateral_on_brake parameter. Updated m_update_control_state to handle the pause/resume logic based on brake input and the new pause_lateral_on_brake flag. Added get_pause_lateral_on_brake helper function. Updated set_mads_params to include the new parameter. Adjusted tests to reflect the new functionality and ensure correct behavior.	opendbc/safety/tests/mads_common.py opendbc/safety/sunnypilot/safety_mads.h opendbc/safety/tests/libsafety/safety_helpers.h opendbc/safety/tests/hyundai_common.py opendbc/safety/sunnypilot/safety_mads_declarations.h opendbc/safety/tests/libsafety/safety_helpers.py opendbc/safety/tests/safety_replay/replay_drive.py opendbc/safety/__init__.py opendbc/safety/tests/test_ford.py opendbc/safety/tests/test_honda.py opendbc/safety/tests/test_hyundai.py opendbc/safety/tests/test_subaru.py
Rename ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE to ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE.	Renamed ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE to ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE.	opendbc/safety/sunnypilot/safety_mads_declarations.h opendbc/safety/__init__.py

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