energy_model: Don't allow idle_states=None in PowerDomain class

This will cause an error in EnergyModel._guess_idle_states. Should use []
instead.
diff --git a/libs/utils/energy_model.py b/libs/utils/energy_model.py
index 287fed7..7517dd2 100644
--- a/libs/utils/energy_model.py
+++ b/libs/utils/energy_model.py
@@ -202,6 +202,8 @@
     :type cpus: tuple(int)
     """
     def __init__(self, idle_states, cpu=None, children=None):
+        if idle_states is None:
+            raise ValueError('idle_states cannot be None (but may be empty)')
         super(PowerDomain, self).__init__(cpu, children)
         self.idle_states = idle_states