feat: optimize control module safety management

[daohu527]

add safety_manager

testcase

[wfh@in-dev-docker:/apollo]$ ./bazel-bin/modules/common/util/debouncer_test
Running main() from gmock_main.cc
[==========] Running 7 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 7 tests from CounterDebouncerTest
[ RUN      ] CounterDebouncerTest.Initialization
[       OK ] CounterDebouncerTest.Initialization (0 ms)
[ RUN      ] CounterDebouncerTest.NormalDebounceProcess
[       OK ] CounterDebouncerTest.NormalDebounceProcess (0 ms)
[ RUN      ] CounterDebouncerTest.ImmediateResetOnNormalSignal
[       OK ] CounterDebouncerTest.ImmediateResetOnNormalSignal (0 ms)
[ RUN      ] CounterDebouncerTest.RecoveryAfterConfirmation
[       OK ] CounterDebouncerTest.RecoveryAfterConfirmation (0 ms)
[ RUN      ] CounterDebouncerTest.ManualReset
[       OK ] CounterDebouncerTest.ManualReset (0 ms)
[ RUN      ] CounterDebouncerTest.ZeroThresholdBoundary
[       OK ] CounterDebouncerTest.ZeroThresholdBoundary (0 ms)
[ RUN      ] CounterDebouncerTest.SingleSampleThreshold
[       OK ] CounterDebouncerTest.SingleSampleThreshold (0 ms)
[----------] 7 tests from CounterDebouncerTest (0 ms total)

[----------] Global test environment tear-down
[==========] 7 tests from 1 test suite ran. (0 ms total)
[  PASSED  ] 7 tests.
[wfh@in-dev-docker:/apollo]$ ./bazel-bin/modules/control/safety/safety_manager_test
Running main() from gmock_main.cc
[==========] Running 8 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 8 tests from SafetyManagerTest
[ RUN      ] SafetyManagerTest.InitialStateIsNormal
[       OK ] SafetyManagerTest.InitialStateIsNormal (0 ms)
[ RUN      ] SafetyManagerTest.ArbitrateHighestSeverity
WARNING: Logging before InitGoogleLogging() is written to STDERR
I20260103 11:33:25.170444 128114120116608 global_data.cc:153] []host ip: 10.0.39.103
[       OK ] SafetyManagerTest.ArbitrateHighestSeverity (5 ms)
[ RUN      ] SafetyManagerTest.SteeringRateProtection
E20260103 11:33:25.176263 128114120116608 safety_manager.cc:118] [control]Steer rate limit violation: 200
[       OK ] SafetyManagerTest.SteeringRateProtection (0 ms)
[ RUN      ] SafetyManagerTest.ApplyHardEstopPolicy
[       OK ] SafetyManagerTest.ApplyHardEstopPolicy (0 ms)
[ RUN      ] SafetyManagerTest.StateLatchingLogic
[       OK ] SafetyManagerTest.StateLatchingLogic (0 ms)
[ RUN      ] SafetyManagerTest.SoftStopAutoRecoveryAndHardStopLatching
[       OK ] SafetyManagerTest.SoftStopAutoRecoveryAndHardStopLatching (0 ms)
[ RUN      ] SafetyManagerTest.ManualResetSuccessful
W20260103 11:33:25.176333 128114120116608 safety_manager.cc:231] [control]Reset Request Denied: Faults are still active.
W20260103 11:33:25.176338 128114120116608 safety_manager.cc:233] [control]Active Fault ID: 16908292
I20260103 11:33:25.176342 128114120116608 safety_manager.cc:229] [control]Safety System RESET by Operator.
[       OK ] SafetyManagerTest.ManualResetSuccessful (0 ms)
[ RUN      ] SafetyManagerTest.SkipComputationOnCriticalFailure
[       OK ] SafetyManagerTest.SkipComputationOnCriticalFailure (0 ms)
[----------] 8 tests from SafetyManagerTest (6 ms total)

[----------] Global test environment tear-down
[==========] 8 tests from 1 test suite ran. (6 ms total)
[  PASSED  ] 8 tests.