Simulator: add metadrive as optional simulator (#29935)

* Add metadrive sim

* use monotonic

* don't use cuda if it's not available

* Cleanup metadrive patches

* PR suggestions

* fix typo
old-commit-hash: e02519bb71beb4bf1f6b7f5def5a077886e00327

tools/sim/tests/test_carla_bridge.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+import unittest
+
+from openpilot.selfdrive.manager.helpers import unblock_stdout
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.carla import CarlaBridge
+from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
+
+
+class TestCarlaBridge(TestSimBridgeBase):
+  """
+  Tests need Carla simulator to run
+  """
+  carla_process = None
+
+  def setUp(self):
+    super().setUp()
+
+    # We want to make sure that carla_sim docker isn't still running.
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
+
+    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
+    unblock_stdout()
+    # Wait 10 seconds to startup carla
+    time.sleep(10)
+
+  def create_bridge(self):
+    return CarlaBridge(parse_args([]))
+
+  def tearDown(self):
+    super().tearDown()
+
+    # Stop carla simulator by removing docker container
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    if self.carla_process is not None:
+      self.carla_process.wait()
+
+
+if __name__ == "__main__":
+  unittest.main()

tools/sim/tests/test_metadrive_bridge.py

@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+import unittest
+
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.metadrive import MetaDriveBridge
+from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
+
+
+class TestMetaDriveBridge(TestSimBridgeBase):
+  def create_bridge(self):
+    return MetaDriveBridge(parse_args([]))
+
+
+if __name__ == "__main__":
+  unittest.main()

tools/sim/tests/test_sim_bridge.py

@@ -1,40 +1,24 @@
-#!/usr/bin/env python3
+import os
 import subprocess
 import time
 import unittest
-import os
+
 from multiprocessing import Queue
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.manager.helpers import unblock_stdout
-from openpilot.tools.sim.run_bridge import parse_args
-from openpilot.tools.sim.bridge.carla import CarlaBridge
-
-CI = "CI" in os.environ
 
 SIM_DIR = os.path.join(BASEDIR, "tools/sim")
 
-class TestCarlaIntegration(unittest.TestCase):
-  """
-  Tests need Carla simulator to run
-  """
-  processes = None
-  carla_process = None
+class TestSimBridgeBase(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if cls is TestSimBridgeBase:
+      raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
 
   def setUp(self):
     self.processes = []
 
-    if not CI:
-      # We want to make sure that carla_sim docker isn't still running.
-      subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-      self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
-
-    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
-    unblock_stdout()
-    # Wait 10 seconds to startup carla
-    time.sleep(10)
-
   def test_engage(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
@@ -42,7 +26,7 @@ class TestCarlaIntegration(unittest.TestCase):
 
     sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
     q = Queue()
-    carla_bridge = CarlaBridge(parse_args([]))
+    carla_bridge = self.create_bridge()
     p_bridge = carla_bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
@@ -99,11 +83,6 @@ class TestCarlaIntegration(unittest.TestCase):
       else:
         p.join(15)
 
-    # Stop carla simulator by removing docker container
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    if self.carla_process is not None:
-      self.carla_process.wait()
-
 
 if __name__ == "__main__":
   unittest.main()