feat: Safety Goals + Drive-Away-Assist + vollst. Traceability

Neue Layer:
- safety/sg/SG-001..005 als eigene Doorstop-Items (ASIL D/D/A/C/B)
- SYS-Reqs verlinken nach oben auf SG via frontmatter
- Kette ist jetzt: SG -> SYS -> SA, SWE -> SWA -> Code (@arch) + Test (@reqs)

Drive-Away-Assist im Safety Manager:
- SWE-011 (Anfahrabsicht erkennen) implementiert
- SWE-012 (Sicherheits-Check Tuer + Gurt) implementiert
- Neuer State SAFETY_DRIVE_AWAY + safety_mgr_release_requested()
- SafetyInputs erweitert um gas_pedal_percent, gear_in_drive,
  door_closed, seatbelt_fastened
- 5 neue Tests (DRIVE_AWAY armed/blocked/end-conditions)
- Test-Header @reqs erweitert auf SWE-007..012

traceability.py erweitert:
- SG als neuer Top-Level
- Code-Mapping-Check: @arch im Header von src/*.c muss SWA-id matchen
- Test-Mapping-Check: @reqs im Header der Tests muss alle SWE der
  zugehoerigen SWA abdecken
- HTML zeigt 7 Spalten: SG | SYS | SA | SWE | SWA | Code | Test
- 2 zusaetzliche Tabellen: Code->Arch und Test->Reqs

test_apply_controller.c:
- @reqs Header um SWE-005 ergaenzt (war funktional drin, nur Tag fehlte)

Counts:
- 55 doorstop-Items (war 50)
- 46 Unit-Tests (war 41)
- Traceability vollstaendig in beide Richtungen

src/safety_manager.c

@@ -1,12 +1,13 @@
 /**
  * @file safety_manager.c
- * @brief Safety Manager — Hill-Hold + Auto-Apply Logik.
+ * @brief Safety Manager — Hill-Hold, Auto-Apply, Drive-Away-Assist.
  *
  * @arch SWA-001
- * @reqs SWE-007 SWE-008 SWE-009 SWE-010
+ * @reqs SWE-007 SWE-008 SWE-009 SWE-010 SWE-011 SWE-012
  *
  * ASIL: D. Diese Komponente entscheidet, wann der Apply Controller eine
- * Apply-Anforderung erhaelt (Hill-Hold-Uebergabe, Auto-Apply bei Motor-Aus).
+ * Apply- oder Release-Anforderung erhaelt (Hill-Hold-Uebergabe, Auto-Apply
+ * bei Motor-Aus, Drive-Away-Assist).
  * Aenderungen erfordern Technical Review mit 2 Approvals.
  */
 #include <stddef.h>
@@ -17,6 +18,7 @@ typedef struct {
     SafetyState state;
     uint16_t    ticks_in_state;  /* 50ms-Ticks im aktuellen Zustand */
     bool        apply_requested;
+    bool        release_requested;
 } SafetyCtx;
 
 static SafetyCtx s_ctx;
@@ -42,11 +44,30 @@ static bool grade_steep(const SafetyInputs* in)
     return g > SAFETY_HILLHOLD_GRADE_PCT;
 }
 
+/**
+ * @reqs SWE-011 (Anfahrabsicht erkennen)
+ */
+static bool drive_intent(const SafetyInputs* in)
+{
+    return (in->gas_pedal_percent > SAFETY_DRIVE_INTENT_GAS_PCT)
+        && in->gear_in_drive
+        && in->engine_running;
+}
+
+/**
+ * @reqs SWE-012 (Sicherheits-Check vor Auto-Release)
+ */
+static bool drive_away_safety_ok(const SafetyInputs* in)
+{
+    return in->door_closed && in->seatbelt_fastened;
+}
+
 EpbStatus safety_mgr_init(void)
 {
-    s_ctx.state           = SAFETY_IDLE;
-    s_ctx.ticks_in_state  = 0U;
-    s_ctx.apply_requested = false;
+    s_ctx.state             = SAFETY_IDLE;
+    s_ctx.ticks_in_state    = 0U;
+    s_ctx.apply_requested   = false;
+    s_ctx.release_requested = false;
     return EPB_OK;
 }
 
@@ -60,8 +81,9 @@ void safety_mgr_step_50ms(const SafetyInputs* in)
         ++s_ctx.ticks_in_state;
     }
 
-    /* Default: no apply request unless explicitly set below. */
-    s_ctx.apply_requested = false;
+    /* Default: no apply/release request unless explicitly set below. */
+    s_ctx.apply_requested   = false;
+    s_ctx.release_requested = false;
 
     switch (s_ctx.state) {
     case SAFETY_IDLE:
@@ -75,6 +97,13 @@ void safety_mgr_step_50ms(const SafetyInputs* in)
             && in->current_state != EPB_STATE_APPLIED
             && in->current_state != EPB_STATE_APPLYING) {
             enter(SAFETY_AUTO_APPLY_ARMED);
+            break;
+        }
+        /* @reqs SWE-011 + SWE-012: Drive-Away-Assist */
+        if (in->current_state == EPB_STATE_APPLIED
+            && drive_intent(in) && drive_away_safety_ok(in)) {
+            s_ctx.release_requested = true;
+            enter(SAFETY_DRIVE_AWAY);
         }
         break;
 
@@ -122,6 +151,18 @@ void safety_mgr_step_50ms(const SafetyInputs* in)
         }
         break;
 
+    case SAFETY_DRIVE_AWAY:
+        /* Beendet, wenn die Bremse geloest wurde oder Vorbedingungen nicht mehr ok. */
+        if (in->current_state == EPB_STATE_RELEASED
+            || in->current_state == EPB_STATE_RELEASING) {
+            enter(SAFETY_IDLE);
+        } else if (!drive_intent(in) || !drive_away_safety_ok(in)) {
+            enter(SAFETY_IDLE);
+        } else {
+            s_ctx.release_requested = true;
+        }
+        break;
+
     default:
         enter(SAFETY_IDLE);
         break;
@@ -133,6 +174,11 @@ bool safety_mgr_apply_requested(void)
     return s_ctx.apply_requested;
 }
 
+bool safety_mgr_release_requested(void)
+{
+    return s_ctx.release_requested;
+}
+
 SafetyState safety_mgr_get_state(void)
 {
     return s_ctx.state;

src/safety_manager.h

@@ -1,20 +1,23 @@
 /**
  * @file safety_manager.h
- * @brief Safety Manager — Hill-Hold + Auto-Apply Logik.
+ * @brief Safety Manager — Hill-Hold, Auto-Apply, Drive-Away-Assist.
  *
  * @arch SWA-001
- * @reqs SWE-007 SWE-008 SWE-009 SWE-010
+ * @reqs SWE-007 SWE-008 SWE-009 SWE-010 SWE-011 SWE-012
  *
  * ASIL: D.
  *
  * State Machine:
- *   IDLE  --(engine_off & v<0.5)--> AUTO_APPLY_ARMED
+ *   IDLE  --(engine_off & v<0.5 & !APPLIED)--> AUTO_APPLY_ARMED
  *   AUTO_APPLY_ARMED --(40 * 50ms = 2s)--> AUTO_APPLY_TRIGGERED
  *   AUTO_APPLY_TRIGGERED --(state==APPLIED)--> IDLE
  *
  *   IDLE  --(grade>5% & v<0.5 & brake)--> HILL_HOLD_ARMED
  *   HILL_HOLD_ARMED --(!brake)--> HILL_HOLD_ACTIVE
  *   HILL_HOLD_ACTIVE --(v>2 km/h | state==APPLIED)--> IDLE
+ *
+ *   IDLE  --(APPLIED & gas>10% & gear_drive & engine & door & belt)--> DRIVE_AWAY
+ *   DRIVE_AWAY --(state==RELEASED|RELEASING)--> IDLE
  */
 #ifndef SAFETY_MANAGER_H
 #define SAFETY_MANAGER_H
@@ -26,7 +29,8 @@ typedef enum {
     SAFETY_HILL_HOLD_ARMED      = 1,
     SAFETY_HILL_HOLD_ACTIVE     = 2,
     SAFETY_AUTO_APPLY_ARMED     = 3,
-    SAFETY_AUTO_APPLY_TRIGGERED = 4
+    SAFETY_AUTO_APPLY_TRIGGERED = 4,
+    SAFETY_DRIVE_AWAY           = 5
 } SafetyState;
 
 typedef struct {
@@ -34,7 +38,12 @@ typedef struct {
     bool     brake_pedal_pressed;
     float    vehicle_speed_kmh;
     float    grade_percent;
-    EpbState current_state;       /* aus Apply Controller */
+    EpbState current_state;          /* aus Apply Controller */
+    /* Drive-Away-Assist Inputs (SWE-011, SWE-012) */
+    float    gas_pedal_percent;       /* 0..100 */
+    bool     gear_in_drive;           /* Vorwaerts oder Rueckwaerts */
+    bool     door_closed;             /* Fahrertuer */
+    bool     seatbelt_fastened;       /* Fahrer-Gurt */
 } SafetyInputs;
 
 /* Schwellwerte als Konstanten, damit Tests darauf zugreifen koennen. */
@@ -42,10 +51,12 @@ typedef struct {
 #define SAFETY_STANDSTILL_KMH         0.5f
 #define SAFETY_RELEASE_KMH            2.0f
 #define SAFETY_HILLHOLD_GRADE_PCT     5.0f
+#define SAFETY_DRIVE_INTENT_GAS_PCT  10.0f  /* Gaspedal > 10% = Anfahrabsicht */
 
 EpbStatus   safety_mgr_init(void);
 void        safety_mgr_step_50ms(const SafetyInputs* in);
 bool        safety_mgr_apply_requested(void);
+bool        safety_mgr_release_requested(void);    /* Drive-Away-Assist */
 SafetyState safety_mgr_get_state(void);
 
 #endif /* SAFETY_MANAGER_H */