From aca01365e6715c1c5c18242e81e27c6feed151c6 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Sun, 5 May 2024 19:32:08 -0400
Subject: [PATCH] CI/Simulator: Add Metadrive test to CI (#32352)

* works consistently

* ci gha

* fix

* navd

* fix

* cleanup

* change button

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 .github/workflows/tools_tests.yaml | 26 ++++++++++++++++++++++++--
 tools/sim/bridge/common.py         |  4 +++-
 tools/sim/tests/test_sim_bridge.py |  2 --
 3 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 89c3efbac64010..ccd3368cb0ea4d 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -37,8 +37,8 @@ jobs:
       run: |
         ${{ env.RUN }} "pytest tools/plotjuggler/"
 
-  simulator:
-    name: simulator
+  simulator_build:
+    name: simulator docker build
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
@@ -56,6 +56,28 @@ jobs:
       run: |
         selfdrive/test/docker_build.sh sim
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build base docker image
+      run: eval "$BUILD"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 tools/sim/tests/test_metadrive_bridge.py"
+
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 3bd2f35772e018..46d09c7b9d6555 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -46,6 +46,7 @@ def __init__(self, dual_camera, high_quality):
     self.world: World | None = None
 
     self.past_startup_engaged = False
+    self.startup_button_prev = True
 
   def _on_shutdown(self, signal, frame):
     self.shutdown()
@@ -161,7 +162,8 @@ def _run(self, q: Queue):
 
         self.past_startup_engaged = True
       elif not self.past_startup_engaged and controlsState.engageable:
-        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
+        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET if self.startup_button_prev else CruiseButtons.MAIN # force engagement on startup
+        self.startup_button_prev = not self.startup_button_prev
 
       throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
       brake_out = brake_op if self.simulator_state.is_engaged else brake_manual
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 504914c5626a61..d9653d5cfd877f 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -62,8 +62,6 @@ def test_engage(self):
     while time.monotonic() < start_time + max_time_per_step:
       sm.update()
 
-      q.put("cruise_down")  # Try engaging
-
       if sm.all_alive() and sm['controlsState'].active:
         control_active += 1