# Conflicts:
#	board/safety.h
#	board/safety/safety_hyundai.h
#	board/safety_declarations.h

# Conflicts:
#	python/__init__.py

#46)

Refactor MADS safety with improved state management

This commit introduces a major refactoring of the MADS safety module, improving state management and control flow. Key changes include:

Core Changes:
- Introduced a MADSState struct to centralize state management
- Removed global state variables in favor of structured state
- Implemented button transition handling with explicit state tracking (PRESSED/RELEASED/NO_CHANGE)
- Added state flags for button availability detection
- Simplified lateral control permission logic

Button Handling:
- Separated main button and LKAS button state tracking
- Added independent engagement states for each button
- Improved button press detection across multiple platforms
- Added support for main and LKAS buttons on Hyundai platforms
- Modified ACC main state handling

Testing:
- Added comprehensive test coverage for MADS state transitions
- Added new MADS-specific test base class for consistent testing across platforms
- Added mutation testing for state management
- Extended timeout for mutation tests from 5 to 8 minutes
- Added extensive button press validation tests
- Enhanced debugging output in replay drive tests

The refactored code provides a more organized implementation of MADS safety features while maintaining compatibility with existing safety checks.

Refactor button state handling by replacing integer constants with an enumerated `ButtonState` type and updating logic to improve readability and maintainability. This change affects button press detection in Ford, Honda, Hyundai, and Toyota safety modules and aligns them with a unified MADS button state approach. Enums provide a clearer understanding of button states and transitions, facilitating easier maintenance and future enhancements.

The code for processing LKAS button presses has been commented out in both Honda and Toyota safety implementations. This change aims to investigate or temporarily halt the button press effects without removing the logic altogether. It will be important to test for any impacts this may have on vehicle control functionality.

This commit cleans up the toyota_rx_hook function by removing unnecessary commented-out code that checks for LKAS button presses on bus 2. This helps improve code readability and maintainability without altering the existing functionality.

This reverts commit d6b012c.

This commit includes a minor restructuring in safety_subaru.h and test_subaru.py for better readability and flow. The condition check in safety_subaru.h for lkas_hud now has explicit parentheses. With regard to test_subaru.py, an unnecessary import was removed, and the sequence of steps in the test was reordered - now enabling mads and cleaning up mads_states happens before each subtest.

Updated the MADS safety tests to utilize the _speed_msg(0) function call in place of _user_brake_msg(False).